Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building
A real-time map-building system is proposed for an autonomous underwater vehicle (AUV) to build a map of an unknown underwater environment. The system, using the AUV's onboard sensor information, includes a neurodynamics model proposed for complete coverage path planning and an evidence theoret...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2012-10-01
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| Series: | International Journal of Distributed Sensor Networks |
| Online Access: | https://doi.org/10.1155/2012/567959 |
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| _version_ | 1832556801890975744 |
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| author | Mingzhong Yan Daqi Zhu Simon X. Yang |
| author_facet | Mingzhong Yan Daqi Zhu Simon X. Yang |
| author_sort | Mingzhong Yan |
| collection | DOAJ |
| description | A real-time map-building system is proposed for an autonomous underwater vehicle (AUV) to build a map of an unknown underwater environment. The system, using the AUV's onboard sensor information, includes a neurodynamics model proposed for complete coverage path planning and an evidence theoretic method proposed for map building. The complete coverage of the environment guarantees that the AUV can acquire adequate environment information. The evidence theory is used to handle the noise and uncertainty of the sensor data. The AUV dynamically plans its path with obstacle avoidance through the landscape of neural activity. Concurrently, real-time sensor data are “fused” into a two-dimensional (2D) occupancy grid map of the environment using evidence inference rule based on the Dempster-Shafer theory. Simulation results show a good quality of map-building capabilities and path-planning behaviors of the AUV. |
| format | Article |
| id | doaj-art-2ce2a18aa53947eb9043540c2f9b86f9 |
| institution | Kabale University |
| issn | 1550-1477 |
| language | English |
| publishDate | 2012-10-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Distributed Sensor Networks |
| spelling | doaj-art-2ce2a18aa53947eb9043540c2f9b86f92025-02-03T05:44:18ZengWileyInternational Journal of Distributed Sensor Networks1550-14772012-10-01810.1155/2012/567959Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map BuildingMingzhong Yan0Daqi Zhu1Simon X. Yang2 Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Haigang Avenue 1550, Shanghai 201306, China Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Haigang Avenue 1550, Shanghai 201306, China The Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ON, Canada, N1G 2W1A real-time map-building system is proposed for an autonomous underwater vehicle (AUV) to build a map of an unknown underwater environment. The system, using the AUV's onboard sensor information, includes a neurodynamics model proposed for complete coverage path planning and an evidence theoretic method proposed for map building. The complete coverage of the environment guarantees that the AUV can acquire adequate environment information. The evidence theory is used to handle the noise and uncertainty of the sensor data. The AUV dynamically plans its path with obstacle avoidance through the landscape of neural activity. Concurrently, real-time sensor data are “fused” into a two-dimensional (2D) occupancy grid map of the environment using evidence inference rule based on the Dempster-Shafer theory. Simulation results show a good quality of map-building capabilities and path-planning behaviors of the AUV.https://doi.org/10.1155/2012/567959 |
| spellingShingle | Mingzhong Yan Daqi Zhu Simon X. Yang Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building International Journal of Distributed Sensor Networks |
| title | Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building |
| title_full | Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building |
| title_fullStr | Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building |
| title_full_unstemmed | Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building |
| title_short | Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building |
| title_sort | complete coverage path planning in an unknown underwater environment based on d s data fusion real time map building |
| url | https://doi.org/10.1155/2012/567959 |
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