Naslov
Information Gain-Guided Online Coverage Path Planning for Side-Scan Sonar Survey Missions

Autori
Kapetanović, Nadir ; Mišković, Nikola ; Tahirović, Adnan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 26th Mediterranean Conference on Control and Automation (MED '18) / - , 2018, 1-6

Skup
26th Mediterranean Conference on Control and Automation (MED 2018)

Mjesto i datum
Zadar, Hrvatska, 19.06.2018. - 22.06.2018

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
marine robotics, side-scan sonar, coverage path planning

Sažetak
Mapping an unknown large-scale marine area by a side-scan sonar onboard a marine vehicle as quickly as possible is often of great importance. It is also important that a-priori unknown interesting parts of the area are scanned in more detail, i.e. with the removal of sonic shadows. In contrast to the standard overlap-all-sonar- ranges lawnmower pattern, which is an offline static coverage problem solution for side-scan sonar missions, here a novel online side-scan sonar data-driven coverage solution is proposed. The proposed coverage algorithm provides a coverage solution based on local information gain from side-scan sonar data. At the same time, the solution is generated in such a way that coverage path length is minimized while covering the same area as the standard lawnmower. Upper and lower bounds of the proposed algorithm's improvement compared to the overlap-all-sonar-ranges lawnmower method are estimated analytically and validated through extensive mission parameters variation simulations. Simulation results show that our approach can cut down coverage path length significantly compared to the standard lawnmower method in most application cases.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA