A Deformable Spiral Based Algorithm to Smooth Coverage Path Planning for Marine Growth Removal

Hassan, M; Liu, D

A Deformable Spiral Based Algorithm to Smooth Coverage Path Planning for Marine Growth Removal

Hassan, M

Liu, D

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2018, pp. 1913 - 1918
Issue Date:: 2018-12-27

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Field	Value	Language
dc.contributor.author	Hassan, M https://orcid.org/0000-0002-0824-3272	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.available	2020-10-01T19:07:00Z
dc.date.issued	2018-12-27	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2018, pp. 1913 - 1918	en_US
dc.identifier.isbn	9781538680940	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/127720
dc.description.abstract	© 2018 IEEE. Ahstract- Marine growths that flourish on the surfaces of underwater structures, such as bridge pylons, make the inspection and maintenance of these structures challenging. A robotic solution, using an Intervention Autonomous Underwater Vehicle (I-AUV), is developed for removing marine growth. This paper presents a Deformable Spiral Coverage Path Planning (DSCPP) algorithm for marine growth removal. DSCPP generates smooth paths to prevent damage to the surfaces of the structures and to avoid frequent or aggressive decelerations and accelerations due to sharp turns. DSCPP generates a spiral path within a circle and analytically maps the path to a minimum bounding rectangle which encompasses an area of a surface with marine growth. It aims to achieve a spiral path with minimal length while preventing missed areas of coverage. Several case studies are presented to validate the algorithm. Comparison results show that DSCPP outperforms the popular boustrophedon-based coverage approach when considering the requirements for the application under consideration.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP150100935
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2018.8593563	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	A Deformable Spiral Based Algorithm to Smooth Coverage Path Planning for Marine Growth Removal	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US

Abstract:

© 2018 IEEE. Ahstract- Marine growths that flourish on the surfaces of underwater structures, such as bridge pylons, make the inspection and maintenance of these structures challenging. A robotic solution, using an Intervention Autonomous Underwater Vehicle (I-AUV), is developed for removing marine growth. This paper presents a Deformable Spiral Coverage Path Planning (DSCPP) algorithm for marine growth removal. DSCPP generates smooth paths to prevent damage to the surfaces of the structures and to avoid frequent or aggressive decelerations and accelerations due to sharp turns. DSCPP generates a spiral path within a circle and analytically maps the path to a minimum bounding rectangle which encompasses an area of a surface with marine growth. It aims to achieve a spiral path with minimal length while preventing missed areas of coverage. Several case studies are presented to validate the algorithm. Comparison results show that DSCPP outperforms the popular boustrophedon-based coverage approach when considering the requirements for the application under consideration.

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http://hdl.handle.net/10453/127720