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Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles

This paper presents a new technique for exploration and mapping/surveying of underwater infrastructure and/or objects of interest, using multiple autonomous underwater vehicles (AUVs). The proposed method employs rotational potential fields, and extends them for use on multiple vehicles within a thr...

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Main Authors: McIntyre, D., Naeem, W., Ali, S.S.A., Anwer, A.
Format: Article
Published: Institute of Electrical and Electronics Engineers Inc. 2017
Online Access:https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018294196&doi=10.1109%2fUSYS.2016.7893926&partnerID=40&md5=14a88d91e5ed6660219acd4595b42168
http://eprints.utp.edu.my/20103/
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spelling my.utp.eprints.201032018-04-22T14:41:07Z Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles McIntyre, D. Naeem, W. Ali, S.S.A. Anwer, A. This paper presents a new technique for exploration and mapping/surveying of underwater infrastructure and/or objects of interest, using multiple autonomous underwater vehicles (AUVs). The proposed method employs rotational potential fields, and extends them for use on multiple vehicles within a three dimensional environment. An inter-vehicle fluid formation is maintained throughout, free of angular constraints (or the need of a virtual vehicle). When an object of interest is approached, the formation is split and follows a smooth trajectory around opposite sides of its boundary. To fully utilise the potential of rotational fields, a unique local 2D-plane is created around every object within the 3D environment, which is employed for boundary coverage. Traditional artificial potential fields are used to guide vehicles towards each object in turn (and maintain the fluid formation), while rotational fields are employed within the local 2D-plane providing a smooth trajectory around opposing sides of every object. Simulation results show the method to be effective, providing a more stable trajectory. Comparison with the standard technique shows that the formation is maintained throughout and overall journey time is significantly reduced using this method. © 2016 IEEE. Institute of Electrical and Electronics Engineers Inc. 2017 Article PeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018294196&doi=10.1109%2fUSYS.2016.7893926&partnerID=40&md5=14a88d91e5ed6660219acd4595b42168 McIntyre, D. and Naeem, W. and Ali, S.S.A. and Anwer, A. (2017) Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles. USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications . pp. 77-82. http://eprints.utp.edu.my/20103/
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Institutional Repository
url_provider http://eprints.utp.edu.my/
description This paper presents a new technique for exploration and mapping/surveying of underwater infrastructure and/or objects of interest, using multiple autonomous underwater vehicles (AUVs). The proposed method employs rotational potential fields, and extends them for use on multiple vehicles within a three dimensional environment. An inter-vehicle fluid formation is maintained throughout, free of angular constraints (or the need of a virtual vehicle). When an object of interest is approached, the formation is split and follows a smooth trajectory around opposite sides of its boundary. To fully utilise the potential of rotational fields, a unique local 2D-plane is created around every object within the 3D environment, which is employed for boundary coverage. Traditional artificial potential fields are used to guide vehicles towards each object in turn (and maintain the fluid formation), while rotational fields are employed within the local 2D-plane providing a smooth trajectory around opposing sides of every object. Simulation results show the method to be effective, providing a more stable trajectory. Comparison with the standard technique shows that the formation is maintained throughout and overall journey time is significantly reduced using this method. © 2016 IEEE.
format Article
author McIntyre, D.
Naeem, W.
Ali, S.S.A.
Anwer, A.
spellingShingle McIntyre, D.
Naeem, W.
Ali, S.S.A.
Anwer, A.
Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles
author_facet McIntyre, D.
Naeem, W.
Ali, S.S.A.
Anwer, A.
author_sort McIntyre, D.
title Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles
title_short Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles
title_full Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles
title_fullStr Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles
title_full_unstemmed Underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles
title_sort underwater surveying and mapping using rotational potential fields for multiple autonomous vehicles
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2017
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018294196&doi=10.1109%2fUSYS.2016.7893926&partnerID=40&md5=14a88d91e5ed6660219acd4595b42168
http://eprints.utp.edu.my/20103/
_version_ 1738656164054302720
score 13.211869

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