Simultaneous mapping and planning for autonomous underwater vehicles in unknown environments

Hernández, Juan David ORCID: https://orcid.org/0000-0002-9593-6789, Vidal, Eduard, Vallicrosa, Guillem, Paire, Èric and Carreras, Marc 2015. Simultaneous mapping and planning for autonomous underwater vehicles in unknown environments. Presented at: OCEANS'15 MTS/IEEE Genova, Genova, Italy, 18-21 May 2015. OCEANS 2015 - Genova. IEEE, pp. 1-6. 10.1109/OCEANS-Genova.2015.7271469

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Abstract

New potential applications of autonomous underwater vehicles (AUVs) involve operations in unknown and cluttered environments, therefore increasing the vehicle exposure to collisions. To cope with these situations, we use an AUV framework for planning collision-free paths in unknown environments, which adapt and replan the paths according to nearby obstacles perceived during the mission execution using different range sensing sonar. We present simulation and real-world results for the SPARUS-II AUV, a torpedo-shaped vehicle, performing autonomous missions.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering
Additional Information:	"© 2015 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:	9781479987368
Date of First Compliant Deposit:	8 March 2021
Date of Acceptance:	12 February 2015
Last Modified:	09 Nov 2022 10:24
URI:	https://orca.cardiff.ac.uk/id/eprint/139359

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