Seabed coverage path re-routing for an autonomous surface vehicle

Andreas Hald, Oskar Emil Aver, Pernille Krog, Inkyung Sung*, Peter Nielsen

*Corresponding author

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

1 Citation (Scopus)

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.
Original languageEnglish
Title of host publicationDistributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019
Number of pages8
PublisherSpringer
Publication date2020
Pages85-92
ISBN (Print)9783030239459
DOIs
Publication statusPublished - 2020
Event16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019 - Avila, Spain
Duration: 26 Jun 201928 Jun 2019

Conference

Conference16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019
CountrySpain
CityAvila
Period26/06/201928/06/2019
SeriesAdvances in Intelligent Systems and Computing
Volume1004
ISSN2194-5357

Fingerprint

Sonar
Sensors
Scheduling

Keywords

  • Autonomous Surface Vehicle (ASV)
  • Coverage path planning
  • Re-routing
  • Seabed mapping

Cite this

Hald, A., Aver, O. E., Krog, P., Sung, I., & Nielsen, P. (2020). Seabed coverage path re-routing for an autonomous surface vehicle. In Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019 (pp. 85-92). Springer. Advances in Intelligent Systems and Computing, Vol.. 1004 https://doi.org/10.1007/978-3-030-23946-6_10
Hald, Andreas ; Aver, Oskar Emil ; Krog, Pernille ; Sung, Inkyung ; Nielsen, Peter. / Seabed coverage path re-routing for an autonomous surface vehicle. Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, 2020. pp. 85-92 (Advances in Intelligent Systems and Computing, Vol. 1004).
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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.",
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Hald, A, Aver, OE, Krog, P, Sung, I & Nielsen, P 2020, Seabed coverage path re-routing for an autonomous surface vehicle. in Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, Advances in Intelligent Systems and Computing, vol. 1004, pp. 85-92, 16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019, Avila, Spain, 26/06/2019. https://doi.org/10.1007/978-3-030-23946-6_10

Seabed coverage path re-routing for an autonomous surface vehicle. / Hald, Andreas; Aver, Oskar Emil; Krog, Pernille; Sung, Inkyung; Nielsen, Peter.

Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, 2020. p. 85-92 (Advances in Intelligent Systems and Computing, Vol. 1004).

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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AB - 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.

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Hald A, Aver OE, Krog P, Sung I, Nielsen P. Seabed coverage path re-routing for an autonomous surface vehicle. In Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer. 2020. p. 85-92. (Advances in Intelligent Systems and Computing, Vol. 1004). https://doi.org/10.1007/978-3-030-23946-6_10