Active SLAM for Autonomous Underwater Exploration

Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping (SLAM) and view planning, there is no exploration framework, tailored to underwate...

Full description

Bibliographic Details
Authors: Palomeras Rovira, Narcís, Carreras Pérez, Marc, Andrade-Cetto, Juan
Format: article
Status:Published version
Publication Date:2019
Country:España
Institution:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repository:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/17295
Online Access:http://hdl.handle.net/10256/17295
Access Level:Open access
Keyword:Robots submarins
Underwater robots
Vehicles submergibles
Submersibles
id ES_71b40e718f9924cef74658be70bbda86
oai_identifier_str oai:recercat.cat:10256/17295
network_acronym_str ES
network_name_str España
repository_id_str
spelling Active SLAM for Autonomous Underwater ExplorationPalomeras Rovira, NarcísCarreras Pérez, MarcAndrade-Cetto, JuanRobots submarinsUnderwater robotsVehicles submergiblesSubmersiblesExploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping (SLAM) and view planning, there is no exploration framework, tailored to underwater vehicles, that faces exploration combining mapping, active localization, and view planning in a unified way. We propose an exploration framework, based on an active SLAM strategy, that combines three main elements: a view planner, an iterative closest point algorithm (ICP)-based pose-graph SLAM algorithm, and an action selection mechanism that makes use of the joint map and state entropy reduction. To demonstrate the benefits of the active SLAM strategy, several tests were conducted with the Girona 500 AUV, both in simulation and in the real world. The article shows how the proposed framework makes it possible to plan exploratory trajectories that keep the vehicle’s uncertainty bounded; thus, creating more consistent mapThis research was funded by the Spanish State Research Agency through grants DPI2015-73978-JIN and DPI2017-89564-P, and the María de Maeztu Seal of Excellence to IRI (MDM-2016-0656).MDPI (Multidisciplinary Digital Publishing Institute)Ministerio de Economía y Competitividad (Espanya)2019info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionpeer-reviewedapplication/pdfhttp://hdl.handle.net/10256/17295http://hdl.handle.net/10256/17295© Remote Sensing, 2019, vol. 11, núm. 23, p. 2827Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.3390/rs11232827info:eu-repo/semantics/altIdentifier/eissn/2072-4292info:eu-repo/grantAgreement/MINECO//DPI2015-73978-JINAttribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:recercat.cat:10256/172952026-05-29T05:05:01Z
dc.title.none.fl_str_mv Active SLAM for Autonomous Underwater Exploration
title Active SLAM for Autonomous Underwater Exploration
spellingShingle Active SLAM for Autonomous Underwater Exploration
Palomeras Rovira, Narcís
Robots submarins
Underwater robots
Vehicles submergibles
Submersibles
title_short Active SLAM for Autonomous Underwater Exploration
title_full Active SLAM for Autonomous Underwater Exploration
title_fullStr Active SLAM for Autonomous Underwater Exploration
title_full_unstemmed Active SLAM for Autonomous Underwater Exploration
title_sort Active SLAM for Autonomous Underwater Exploration
dc.creator.none.fl_str_mv Palomeras Rovira, Narcís
Carreras Pérez, Marc
Andrade-Cetto, Juan
author Palomeras Rovira, Narcís
author_facet Palomeras Rovira, Narcís
Carreras Pérez, Marc
Andrade-Cetto, Juan
author_role author
author2 Carreras Pérez, Marc
Andrade-Cetto, Juan
author2_role author
author
dc.contributor.none.fl_str_mv Ministerio de Economía y Competitividad (Espanya)
dc.subject.none.fl_str_mv Robots submarins
Underwater robots
Vehicles submergibles
Submersibles
topic Robots submarins
Underwater robots
Vehicles submergibles
Submersibles
description Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping (SLAM) and view planning, there is no exploration framework, tailored to underwater vehicles, that faces exploration combining mapping, active localization, and view planning in a unified way. We propose an exploration framework, based on an active SLAM strategy, that combines three main elements: a view planner, an iterative closest point algorithm (ICP)-based pose-graph SLAM algorithm, and an action selection mechanism that makes use of the joint map and state entropy reduction. To demonstrate the benefits of the active SLAM strategy, several tests were conducted with the Girona 500 AUV, both in simulation and in the real world. The article shows how the proposed framework makes it possible to plan exploratory trajectories that keep the vehicle’s uncertainty bounded; thus, creating more consistent map
publishDate 2019
dc.date.none.fl_str_mv 2019
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
peer-reviewed
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/17295
http://hdl.handle.net/10256/17295
url http://hdl.handle.net/10256/17295
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.3390/rs11232827
info:eu-repo/semantics/altIdentifier/eissn/2072-4292
info:eu-repo/grantAgreement/MINECO//DPI2015-73978-JIN
dc.rights.none.fl_str_mv Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI (Multidisciplinary Digital Publishing Institute)
publisher.none.fl_str_mv MDPI (Multidisciplinary Digital Publishing Institute)
dc.source.none.fl_str_mv © Remote Sensing, 2019, vol. 11, núm. 23, p. 2827
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869410671611871232
score 15,812429

Similar Items