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Title: Coverage Path Planning for Mapping of Underwater Structures
This paper addresses the problem of the coverage path planning in a 3D environment for surveying underwater structures. We propose to use the navigation strategy that a human diver will execute when circumnavigating around a region of interest, in particular when collecting data from a shipwreck. In contrast to the previous methods in the literature, we are aiming to perform coverage in completely unknown environment with some initial prior information. Our proposed method uses convolutional neural networks to learn the control commands based on the visual input. Preliminary results and a detailed overview of the proposed method are discussed.  more » « less
Award ID(s):
2024741
PAR ID:
10296203
Author(s) / Creator(s):
; ;
Date Published:
Journal Name:
Global Oceans 2020: Singapore – U.S. Gulf Coast
Page Range / eLocation ID:
1 to 6
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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