Date post: | 19-Dec-2015 |
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Inspection Planning for Sensor Coverage of 3d Marine Structures
Brendan Englot and Franz Hover
Presented by Arvind Pereira for the CS599 Class on Sequential Decision Making in Robotics
Objective
• Algorithm to achieve complete sensor coverage of complex 3-d structures when surveyed by an autonomous agent with multiple degrees of freedom
• Motivating application is ship-hull inspection using bathymetric sonar
• Plans on a closed triangular mesh model of the structure being inspected
Related Work
• Art Gallery Problem – Minimum # of guards who can together observe the entire gallery
• Car painting/Building inspection – Specific geometry of structure being covered
• Challenging issues in Computational Geometry for complex 3-d models in the absence of a priori knowledge
Related Work
• Sampling-based planning for similar problems employed the “art gallery” approach i.e. choosing a set of configurations which offer complete coverage and finding a feasible tour among these nodes
• Postman Framework – information efficient approach to solve deterministically-designed inspections for point robots in a 2-d workspace when robot has a small FOV relative to the size of the workspace
Sensor Footprint of a bathymetric sweep
Graph Construction Algorithm
Find Neighbors
Add Missing View to Graph
Add To Graph
Connect Subtours
Path-Finding AlgorithmIncidence Matrix
for flows
Constraint Matrix ensuring that all
nodes are inspected by a chosen path
Constraint that enforces the
initial node is on the graph
Structure Models
Dense Graphs for Examples
Paths Found
Subtour Connection
Algorithm Performance
Conclusion
• Algorithm ensures coverage planning over arbitrary discrete 3D structures using an information-efficient postman formulation
• Need to be more efficient in the search for feasible views
• Want to optimally manage the division between graph construction and path-finding