Three-dimensional coverage planning for an underwater inspection robot-Reference-Cited by-同舟云学术

Three-dimensional coverage planning for an underwater inspection robot

Published:2013-08 Issue:9-10 Volume:32 Page:1048-1073
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Englot Brendan¹²,Hover Franz S.¹²

Affiliation:

1. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA

2. Englot is now affiliated with United Technologies Research Center, East Hartford, CT, USA

Abstract

To support autonomous, in-water inspection of a ship hull, we propose and implement new techniques for coverage path planning over complex 3D structures. Our main contribution is a comprehensive methodology for sampling-based design of inspection routes, including an algorithm for planning, an algorithm for smoothing, and an analysis of probabilistic completeness. The latter two outcomes are the first of their kind in the area of coverage planning. Our algorithms give high-quality solutions over expansive structures, and we demonstrate this with experiments in the laboratory and on a 75 m Coast Guard cutter.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364913490046

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