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AUV online mission replanning for gap filling and target inspection

Hernández, Juan David, Vidal, Eduard, Greer, Jennifer, Fiasco, Romain, Jaussaud, Patrick, Carreras, Marc and García, Rafael 2017. AUV online mission replanning for gap filling and target inspection. Presented at: IEEE OCEANS 2017, Aberdeen, Scotland, 19-22 June 2017. OCEANS 2017 - Aberdeen. IEEE, pp. 1-4. 10.1109/OCEANSE.2017.8084740

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Abstract

In most of the current operational autonomous underwater vehicles (AUVs), a survey mission is generally composed of two main stages. The first one conducts an exhaustive coverage over an area of interest, while gathering data of the sea bottom. Then, and after processing the collected data, a second mission is programmed to obtain more detailed information of potential targets, and to cover the gaps that resulted from the first exploration. However, this two-survey strategy can be inefficient, since it requires establishing a communication link between the AUV and its operator for retrieving the data and reprogramming the second mission. To cope with this situation, we present a mission planner that endows an AUV with the capability of extending its missions online. With our approach, the vehicle is also required to conduct an initial and predefined survey of an area of interest, but it processes the gathered data onboard to plan 3D feasible paths to complement the initial exploration. To validate our approach, we present real-world results with the AsterX AUV

Item Type: Conference or Workshop Item (Paper)
Date Type: Published Online
Status: Published
Schools: Engineering
Additional Information: "© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."
Publisher: IEEE
ISBN: 9781509052790
Date of First Compliant Deposit: 19 February 2021
Date of Acceptance: 20 March 2017
Last Modified: 19 Feb 2021 17:08
URI: https://orca.cardiff.ac.uk/id/eprint/138530

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