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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
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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
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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
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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
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Sensor Footprint of a bathymetric sweep
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Graph Construction Algorithm
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Find Neighbors
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Add Missing View to Graph
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Add To Graph
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Connect Subtours
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Path-Finding Algorithm Incidence 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
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Structure Models
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Dense Graphs for Examples
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Paths Found
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Subtour Connection
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Algorithm Performance
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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
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