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 Citations (Scopus)

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 publicationProceedings - IEEE International Conference on Robotics and Automation
Pages5328-5333
Number of pages6
DOIs
StatePublished - 2012

Fingerprint

Autonomous underwater vehicles
Sampling
Function evaluation
Planning

ASJC Scopus subject areas

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

Cite this

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

An evaluation of sampling path strategies for an autonomous underwater vehicle. / Ho, Colin; Mora, Andres; Saripalli, Srikanth.

Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 5328-5333 6225231.

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

Ho, C, Mora, A & Saripalli, S 2012, An evaluation of sampling path strategies for an autonomous underwater vehicle. in Proceedings - IEEE International Conference on Robotics and Automation., 6225231, pp. 5328-5333. https://doi.org/10.1109/ICRA.2012.6225231
Ho C, Mora A, Saripalli S. An evaluation of sampling path strategies for an autonomous underwater vehicle. In Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 5328-5333. 6225231 https://doi.org/10.1109/ICRA.2012.6225231
Ho, Colin ; Mora, Andres ; Saripalli, Srikanth. / An evaluation of sampling path strategies for an autonomous underwater vehicle. Proceedings - IEEE International Conference on Robotics and Automation. 2012. pp. 5328-5333
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