Inspection planning for sensor coverage of 3D marine structures
Inspection planning for sensor coverage of 3D marine structures
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3D 海洋结构传感器覆盖范围的检查计划
DOI：
10.1109/iros.2010.5648908
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
F. Hover
中科院分区：
文献类型：
--
作者：
Brendan Englot;F. Hover
我们介绍了一种算法，以实现完整的传感器覆盖的复杂的，三维结构的自主代理与多个自由度的调查。基于海洋航行器自主检测船舶船体的应用背景，研究了全驱动、六自由度悬停AUV使用测深声纳检测船舶船体下复杂结构的规划问题。我们考虑一个离散模型的结构进行检查，只需要提供一个封闭的三角形网格的形式的模型。在机器人的配置空间中构造可行路径的稠密图，直到图中的边缘集合允许结构的完全覆盖。然后，我们近似的最小成本封闭行走沿着观察100%的结构的图。我们强调在图的边缘内嵌入观测值，作为在规划检查时利用所有可用传感器数据的一种手段。
We introduce an algorithm to achieve complete sensor coverage of complex, three-dimensional structures surveyed by an autonomous agent with multiple degrees of freedom. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, we consider a planning problem for a fully-actuated, six degree-of-freedom hovering AUV using a bathymetry sonar to inspect the complex structures underneath a ship hull. We consider a discrete model of the structure to be inspected, requiring only that the model be provided in the form of a closed triangular mesh. A dense graph of feasible paths is constructed in the robot's configuration space until the set of edges in the graph allows complete coverage of the structure. Then, we approximate the minimum-cost closed walk along the graph which observes 100% of the structure. We emphasize the embedding of observations within the edges of the graph as a means of utilizing all available sensor data in planning the inspection.