An evaluation of sampling path strategies for an autonomous underwater vehicle

Colin Ho; Andres Mora; Srikanth Saripalli

doi:10.1109/ICRA.2012.6225231

An evaluation of sampling path strategies for an autonomous underwater vehicle

Colin Ho, Andres Mora, Srikanth Saripalli

Earth and Space Exploration, School of (SESE)

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5328-5333
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6225231
State	Published - Jan 1 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Publication series

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

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2012.6225231

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). Article 6225231 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. 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.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 5328-5333 6225231 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6225231, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 5328-5333, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. 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 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 5328-5333. 6225231. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6225231

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An evaluation of sampling path strategies for an autonomous underwater vehicle

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