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All Journal IAES International Journal of Robotics and Automation (IJRA)
Peter N. Green
The University of Manchester
Automotive Engineering Electrical & Electronics Engineering

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Environment mapping, map constructing, and path planning for underwater navigation of a low-cost µAUV in a cluttered nuclear storage pond Yibin Peng; Peter N. Green
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2014.897 KB) | DOI: 10.11591/ijra.v8i4.pp277-292

Abstract

This paper presents a novel approach that enables a low-cost µAUV (micro autonomous underwater vehicle) navigate and work safely in an enclosed cluttered underwater environment. In order to achieve a autonomy collision-free navigation in underwater, it requires a reliable approach that would allow a µAUV which equipped with sparse and inaccurate sonar sensors to map the underwater environment, a map constructing algorithm that converts the obtained data to useful information to establish a map, and a path planning algorithm that plans a collision-free path from the start to the desired goal. The proposed approach will integrate environment survey, environment reconstruction, and path planning as a completed task, which involves map acquisition and path planning. A complete simulation of the environment topology acquisition and route planning process is documented in this paper.
Co-Authors Yibin Peng