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Informative path planning for an autonomous underwater vehicle

Binney, Jonathan and Krause, Andreas and Sukhatme, Gaurav S. (2010) Informative path planning for an autonomous underwater vehicle. In: 2010 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4791-4796. ISBN 978-1-4244-5038-1. http://resolver.caltech.edu/CaltechAUTHORS:20170314-154240215

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Abstract

We present a path planning method for autonomous underwater vehicles in order to maximize mutual information. We adapt a method previously used for surface vehicles, and extend it to deal with the unique characteristics of underwater vehicles. We show how to generate near-optimal paths while ensuring that the vehicle stays out of high-traffic areas during predesignated time intervals. In our objective function we explicitly account for the fact that underwater vehicles typically take measurements while moving, and that they do not have the ability to communicate until they resurface. We present field results from ocean trials on planning paths for a specific AUV, an underwater glider.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2010.5509714DOIArticle
http://ieeexplore.ieee.org/document/5509714/PublisherArticle
Additional Information:© 2010 IEEE. This work was supported in part by the NOAA MERHAB program under grant NA05NOS4781228 and by NSF as part of the Center for Embedded Network Sensing (CENS) under grant CCR-0120778, by NSF grants CNS-0520305 and CNS-0540420, by the ONR MURI program (grants N00014-09-1-1031 and N00014-08-1-0693) by the ONR SoA program and a gift from the Okawa Foundation. Jonathan Binney was supported by a doctoral fellowship from USC. This research was partially supported by ONR grant N00014-09-1-1044 and a gift from Microsoft Corporation.
Funders:
Funding AgencyGrant Number
National Oceanic and Atmospheric Administration (NOAA) NA05NOS4781228
NSFCCR-0120778
NSFCNS-0520305
NSFCNS-0540420
Office of Naval Research (ONR)N00014-09-1-1031
Office of Naval Research (ONR)N00014-08-1-0693
Okawa FoundationUNSPECIFIED
University of Southern CaliforniaUNSPECIFIED
Office of Naval Research (ONR)N00014-09-1-1044
Microsoft CorporationUNSPECIFIED
Record Number:CaltechAUTHORS:20170314-154240215
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170314-154240215
Official Citation:J. Binney, A. Krause and G. S. Sukhatme, "Informative path planning for an autonomous underwater vehicle," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 4791-4796. doi: 10.1109/ROBOT.2010.5509714
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:75117
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:16 Mar 2017 17:35
Last Modified:16 Mar 2017 17:35

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