文章基本信息

标题：Sensor-based Autonomous Path-Planner for Sea-Bottom Exploration and Mosaicking ∗
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作者：Mauro Candeloro ; Fernando Mosciaro ; Asgeir J.Sørensen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：16
页码：31-36
DOI：10.1016/j.ifacol.2015.10.254
语种：English
出版社：Elsevier
摘要：AbstractA typical mission for an underwater vehicle is to research and map OOIs (Objects Of Interest). Objects Of Interest are specified in connection with the mission purposes, relevant examples span from biological species (e.g. seagrass or coral colonies) to artifacts (e.g. ship wrecks). For their research and mapping the deployment of Autonomous and Remotely Operated Vehicles is becoming the state-of-art, due to their ease of performing difficult operations in a safe way. Moreover, photo-mosaicking tools can be used to provide a complete map of the explored area. In order to achieve this aim, the navigation usually relies on simple lawn-mower or zig-zag patterns, where an area is scanned extensively to collect the pictures, that would be analyzed, processed and stitched after the mission. This paper aims to increase the autonomy of underwater vehicles that are equipped with a still-picture camera by using adeliberative, sensor-drivenplanning strategy. Bysensingthe environment extracting its information from the pictures, the path can be definedon-the-fly,in order toincrease the collected data.
关键词：KeywordsUUVsSea-bed MappingSensor-Based Path-PlanningAutonomyPhotomosaic