Abstract
An Autonomous Surface Vehicle (ASV) equipped with a sonar sensor is used to survey seabed. As a ASV sails an offshore region guided by a coverage path, the unit collects sonar data utilized to map the seabed of the region. However, a sonar sensor occasionally fails to provide data with an adequate quality for the mapping. This calls the necessity of re-routing compared to the original path assigned to an operating ASV, as the ASV needs to re-visit the areas where the sensor data is inadequate. Motivated by the fact, we address the issues in the ASV re-routing from scheduling perspective and propose an approach to solve the problem.
This study has been conducted in corporation with Teledyne RESON A/S.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Acar, E.U., Choset, H., Rizzi, A.A., Atkar, P.N., Hull, D.: Morse decompositions for coverage tasks. Int. J. Robot. Res. 21(4), 331–344 (2002)
Bocewicz, G., Nielsen, I., Banaszak, Z.: Automated guided vehicles fleet match-up scheduling with production flow constraints. Eng. Appl. Artif. Intell. 30, 49–62 (2014)
Bocewicz, G., Nielsen, P., Banaszak, Z., Thibbotuwawa, A.: Deployment of battery swapping stations for unmanned aerial vehicles subject to cyclic production flow constraints. Commun. Comput. Inf. Sci. 920, 73–87 (2018)
Coombes, M., Chen, W.H., Liu, C.: Boustrophedon coverage path planning for UAV aerial surveys in wind. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1563–1571. IEEE (2017)
Galceran, E., Carreras, M.: Efficient seabed coverage path planning for ASVs and AUVs. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 88–93. IEEE (2012)
Houle, M.E., Toussaint, G.T.: Computing the width of a set. IEEE Trans. Pattern Anal. Mach. Intell. 10(5), 761–765 (1988)
Huang, W.H.: Optimal line-sweep-based decompositions for coverage algorithms. In: IEEE International Conference on Robotics and Automation, 2001. Proceedings 2001 ICRA, vol. 1, pp. 27–32. IEEE (2001)
Jiao, Y.S., Wang, X.M., Chen, H., Li, Y.: Research on the coverage path planning of UAVs for polygon areas. In: 2010 the 5th IEEE Conference on Industrial Electronics and Applications (ICIEA), pp. 1467–1472. IEEE (2010)
Khosiawan, Y., Khalfay, A., Nielsen, I.: Scheduling unmanned aerial vehicle and automated guided vehicle operations in an indoor manufacturing environment using differential evolution-fused particle swarm optimization. Int. J. Adv. Robot. Syst. 15(1), 1–15 (2018)
Larson, J., Bruch, M., Ebken, J.: Autonomous navigation and obstacle avoidance for unmanned surface vehicles. In: Unmanned Systems Technology VIII, vol. 6230, p. 623007. International Society for Optics and Photonics (2006)
Liu, P., et al.: A review of rotorcraft unmanned aerial vehicle (UAV) developments and applications in civil engineering. Smart Struct. Syst 13(6), 1065–1094 (2014)
Yu, X.: Optimization approaches for a dubins vehicle in coverage planning problem and traveling salesman problems. Ph.D. thesis (2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Espensen, A.H., Aver, O.E., Poulsen, P.K., Sung, I., Nielsen, P. (2020). Seabed Coverage Path Re-Routing for an Autonomous Surface Vehicle. In: Herrera-Viedma, E., Vale, Z., Nielsen, P., Martin Del Rey, A., Casado Vara , R. (eds) Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions. DCAI 2019. Advances in Intelligent Systems and Computing, vol 1004. Springer, Cham. https://doi.org/10.1007/978-3-030-23946-6_10
Download citation
DOI: https://doi.org/10.1007/978-3-030-23946-6_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-23945-9
Online ISBN: 978-3-030-23946-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)