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Active SLAM for Autonomous Underwater Exploration

Palomeras, Narcís ; Carreras, Marc ; Andrade-Cetto, Juan

Remote sensing (Basel, Switzerland), 2019-12, Vol.11 (23), p.2827 [Periódico revisado por pares]

Basel: MDPI AG

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Título:
Active SLAM for Autonomous Underwater Exploration
Autor: Palomeras, Narcís ; Carreras, Marc ; Andrade-Cetto, Juan
Assuntos: Active SLAM ; Algorithms ; Art galleries & museums ; Automation ; Autonomous underwater vehicles ; Classificació INSPEC ; Entropy ; Exploration ; Informàtica ; Iterative algorithms ; Localization ; Mapping ; Planning ; Remote sensing ; Robot exploration ; Robotics ; Robots ; Robòtica ; Sensors ; Simultaneous localization and mapping ; Strategy ; Three dimensional models ; Trajectory planning ; Underwater exploration ; Underwater vehicles ; Vehicles ; View planning ; Àrees temàtiques de la UPC
É parte de: Remote sensing (Basel, Switzerland), 2019-12, Vol.11 (23), p.2827
Descrição: Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping (SLAM) and view planning, there is no exploration framework, tailored to underwater vehicles, that faces exploration combining mapping, active localization, and view planning in a unified way. We propose an exploration framework, based on an active SLAM strategy, that combines three main elements: a view planner, an iterative closest point algorithm (ICP)-based pose-graph SLAM algorithm, and an action selection mechanism that makes use of the joint map and state entropy reduction. To demonstrate the benefits of the active SLAM strategy, several tests were conducted with the Girona 500 AUV, both in simulation and in the real world. The article shows how the proposed framework makes it possible to plan exploratory trajectories that keep the vehicle’s uncertainty bounded; thus, creating more consistent maps.
Editor: Basel: MDPI AG
Idioma: Inglês

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Active SLAM for Autonomous Underwater Exploration

Palomeras, Narcís ; Carreras, Marc ; Andrade-Cetto, Juan

Basel: MDPI AG

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