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28 March 2024 |
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Article overview
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Riverine Coverage with an Autonomous Surface Vehicle over Known Environments | Nare Karapetyan
; Adam Braude
; Jason Moulton
; Joshua A. Burstein
; Scott White
; Jason M. O'Kane
; Ioannis Rekleitis
; | Date: |
7 Aug 2019 | Abstract: | Environmental monitoring and surveying operations on rivers currently are
performed primarily with manually-operated boats. In this domain, autonomous
coverage of areas is of vital importance, for improving both the quality and
the efficiency of coverage. This paper leverages human expertise in river
exploration and data collection strategies to automate and optimize these
processes using autonomous surface vehicles(ASVs). In particular, three
deterministic algorithms for both partial and complete coverage of a river
segment are proposed,providing varying path length, coverage density, and
turning patterns. These strategies resulted in increases in accuracy and
efficiency compared to human performance.The proposed methods were extensively
tested in simulation using maps of real rivers of different shapes and sizes.
In addition, to verify their performance in real world operations, the
algorithms were deployed successfully on several parts of the Congaree River in
South Carolina, USA, resulting in total of more than 35km of coverage
trajectories in the field. | Source: | arXiv, 1908.2827 | Services: | Forum | Review | PDF | Favorites |
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