DocumentCode :
3178819
Title :
A Non-Parametric Iterative Algorithm For Adaptive Sampling And Robotic Vehicle Path Planning
Author :
Hombal, Vadiraj ; Sanderson, Arthur C. ; Blidberg, Richard
Author_Institution :
Dept. of Electr., Comput., & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY
fYear :
2006
fDate :
Oct. 2006
Firstpage :
217
Lastpage :
222
Abstract :
Efficient adaptive strategies are required to facilitate the role of robotic vehicles as mobile platforms supporting sensing, monitoring, and tracking capabilities. Such strategies utilize a representation of sensor variable fields as a basis for the selection of sample points. In this paper a curvature based criterion for sample selection is presented. The curvature-sensitive sampling algorithm (CSS) utilizes the estimated second-derivative of an intermediate variable field to select sample points of interest for complex process models, such as used in oceanographic sampling with AUVs. For processes for which little or no prior knowledge base exists, an iterative curvature-based adaptive sampling algorithm (ICASA) is presented. The ICASA algorithm iteratively selects sets of sample locations based on non-parametric field representations. These algorithms are evaluated with respect to simulated data, experimental data, and data from oceanographic models. The performance is shown to be significantly better than the conventional uniform grid methodology. The selected iterative samples are used to create a path plan for a robotic vehicle sampling in the region of interest
Keywords :
iterative methods; mobile robots; path planning; underwater vehicles; AUV; adaptive sampling; iterative curvature-sensitive sampling algorithm; nonparametric iterative algorithm; oceanographic sampling; robotic vehicle path planning; Cascading style sheets; Intelligent robots; Iterative algorithms; Mobile robots; Monitoring; Navigation; Path planning; Remotely operated vehicles; Robot sensing systems; Sampling methods; AUV; adaptive sampling; robotic vehicles; sensor networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.282561
Filename :
4058711
Link To Document :
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