Advanced perception, navigation and planning for autonomous in-water ship hull inspection

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Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent operations on naval ships.
Publisher
SAGE PUBLICATIONS LTD
Issue Date
2012-10
Language
English
Article Type
Article
Keywords

SIMULTANEOUS LOCALIZATION; UNDERWATER VEHICLE; COVERAGE; SYSTEM; ALGORITHMS; ROBOTS; SLAM

Citation

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.31, no.12, pp.1445 - 1464

ISSN
0278-3649
DOI
10.1177/0278364912461059
URI
http://hdl.handle.net/10203/192394
Appears in Collection
CE-Journal Papers(저널논문)
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