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Online 3D View Planning for Autonomous Underwater Exploration

Eduard Vidal Garcia

出版	Universitat de Girona, 2020
URL	http://books.google.com.hk/books?id=XS0azgEACAAJ&hl=&source=gbs_api

註釋

Autonomous underwater vehicles are used nowadays in many applications. One ofthe applications is mapping of a particular area of the ocean. Quen the robotneeds to cover the area of interest and no prior knowledge of the area to becovered is avaialbe, a robotic exploration algorithm is used.This thesis develops a robotic exploration algorithm for autonomousunderwater vehicles. The proposed algorithm allows the full exploration of a2D or 3D environment, using acoustic sensors such as a scanning profiling sonar or a multibeam, and optical cameras.The validity of the proposed algorithm is demonstrated through numerousexperiments carried out in different locations of the catalan coast, usingdifferent vehicles and sensor suites.