Title :
An evaluation of sampling path strategies for an autonomous underwater vehicle
Author :
Ho, Colin ; Mora, Andres ; Saripalli, Srikanth
Author_Institution :
Sch. of Earth & Space Exploration, Arizona State Univ., Tempe, AZ, USA
Abstract :
A critical problem in planning sampling paths for autonomous underwater vehicles is balancing obtaining an accurate scalar field estimation against efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real-time and a priori environmental data is available. Through utilizing a cost-evaluation function to experimentally evaluate various sampling path strategies for a wide range of scalar fields and sampling densities, it is found that a systematic spiral sampling path strategy is optimal for high-variance scalar fields for all sampling densities and low-variance scalar fields when sampling is sparse. The random spiral sampling path strategy is found to be optimal for low-variance scalar fields when sampling is dense.
Keywords :
autonomous underwater vehicles; mobile robots; path planning; sampling methods; AUV; a priori environmental data; adaptive sampling approaches; autonomous underwater vehicle; cost-evaluation function utilization; real-time environmental data; sampling densities; sampling path planning problem; scalar field estimation; stored energy capacity utilization; systematic spiral sampling path strategy; Energy consumption; Equations; Estimation; Mathematical model; Spirals; Systematics; Vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225231