An evaluation of sampling path strategies for an autonomous underwater vehicle

Colin Ho, Andres Mora, Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

A critical problem in planning sampling paths for autonomous underwater vehicles is balancing obtaining an accurate scalar field estimation against efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real-time and a priori environmental data is available. Through utilizing a cost-evaluation function to experimentally evaluate various sampling path strategies for a wide range of scalar fields and sampling densities, it is found that a systematic spiral sampling path strategy is optimal for high-variance scalar fields for all sampling densities and low-variance scalar fields when sampling is sparse. The random spiral sampling path strategy is found to be optimal for low-variance scalar fields when sampling is dense.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5328-5333
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Ho, C., Mora, A., & Saripalli, S. (2012). An evaluation of sampling path strategies for an autonomous underwater vehicle. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 5328-5333). [6225231] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225231