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A coverage planner for AUVs using B-splines
RODRIGUES, ROMULO T.; AGUIAR, A. PEDRO; PASCOAL, ANTONIO
Resumo
Resumo
This papers addresses the problem of coverage path planning (CPP) for autonomous underwater vehicles (AUVs). The proposed offline planner employs a B-spline map representation of the target structure or region to be inspected. The method can be applied for both convex and non-convex shapes using an unified framework. The computed coverage path is described by a cubic B-spline curve that respects the kinodynamics constraints of a holomic vehicle. Due to the differentiability property of cubic B-splines, the desired velocity and the acceleration commands for the AUV are implicitly obtained from the coverage path. Simulation results show the planner performance in different mission scenarios.
Autoria
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palavras-chave
Palavras-chave
coverage path planningautonomous underwater vehiclesB-splinescubic B-spline curvesoffline planningunderwater inspection
Status
Published
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Trabalho em anais de evento