Online 3D view planning for autonomous underwater exploration
Autonomous underwater vehicles are used nowadays in many applications. One of the applications is mapping of a particular area of the ocean. Quen the robot needs to cover the area of interest and no prior knowledge of the area to be covered is avaialbe, a robotic exploration algorithm is used. This...
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| Tipo de recurso: | tesis doctoral |
| Estado: | Versión publicada |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | CBUC, CESCA |
| Repositorio: | TDR. Tesis Doctorales en Red |
| OAI Identifier: | oai:www.tdx.cat:10803/668814 |
| Acceso en línea: | http://hdl.handle.net/10803/668814 |
| Access Level: | acceso abierto |
| Palabra clave: | Underwater robotics Robòtica submarina Robótica submarina View planning Visualització Visualización Motion planning Planificació del moviment Planificación del movimiento Exploration Exploració Exploración Autonomous underwater robots Robots autònoms submarins Robots autónomos submarinos Mapping Mapeig Mapeo 004 62 68 |
| Sumario: | Autonomous underwater vehicles are used nowadays in many applications. One of the applications is mapping of a particular area of the ocean. Quen the robot needs to cover the area of interest and no prior knowledge of the area to be covered is avaialbe, a robotic exploration algorithm is used. This thesis develops a robotic exploration algorithm for autonomous underwater vehicles. The proposed algorithm allows the full exploration of a 2D or 3D environment, using acoustic sensors such as a scanning profiling sonar or a multibeam, and optical cameras. The validity of the proposed algorithm is demonstrated through numerous experiments carried out in different locations of the catalan coast, using different vehicles and sensor suites |
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