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- W2998433177 abstract "This paper presents a novel approach that enables a low-cost µAUV (micro autonomous underwater vehicle) navigate and work safely in an enclosed cluttered underwater environment. In order to achieve a autonomy collision-free navigation in underwater, it requires a reliable approach that would allow a µAUV which equipped with sparse and inaccurate sonar sensors to map the underwater environment, a map constructing algorithm that converts the obtained data to useful information to establish a map, and a path planning algorithm that plans a collision-free path from the start to the desired goal. The proposed approach will integrate environment survey, environment reconstruction, and path planning as a completed task, which involves map acquisition and path planning. A complete simulation of the environment topology acquisition and route planning process is documented in this paper." @default.
- W2998433177 created "2020-01-10" @default.
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- W2998433177 date "2019-12-01" @default.
- W2998433177 modified "2023-09-25" @default.
- W2998433177 title "Environment mapping, map constructing, and path planning for underwater navigation of a low-cost µAUV in a cluttered nuclear storage pond" @default.
- W2998433177 doi "https://doi.org/10.11591/ijra.v8i4.pp277-292" @default.
- W2998433177 hasPublicationYear "2019" @default.
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