Advanced perception, navigation and planning for autonomous in-water ship hull inspection
Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the aco...
| Main Authors: | , , , , , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Sage Publications
2013
|
| Online Access: | http://hdl.handle.net/1721.1/78589 https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-2621-7633 |
| _version_ | 1826216965521276928 |
|---|---|
| author | Hover, Franz S. Eustice, Ryan M. Kim, Ayoung Englot, Brendan J. Johannsson, Hordur Kaess, Michael Leonard, John Joseph |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Hover, Franz S. Eustice, Ryan M. Kim, Ayoung Englot, Brendan J. Johannsson, Hordur Kaess, Michael Leonard, John Joseph |
| author_sort | Hover, Franz S. |
| collection | MIT |
| description | Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent operations on naval ships. |
| first_indexed | 2024-09-23T16:55:59Z |
| format | Article |
| id | mit-1721.1/78589 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:55:59Z |
| publishDate | 2013 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/785892022-10-03T09:13:01Z Advanced perception, navigation and planning for autonomous in-water ship hull inspection Hover, Franz S. Eustice, Ryan M. Kim, Ayoung Englot, Brendan J. Johannsson, Hordur Kaess, Michael Leonard, John Joseph Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Mechanical Engineering Hover, Franz S. Englot, Brendan J. Johannsson, Hordur Kaess, Michael Leonard, John Joseph Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent operations on naval ships. United States. Office of Naval Research (Grant N00014-06-10043) United States. Office of Naval Research (Grant N00014-07-1-0791) 2013-04-24T17:02:02Z 2013-04-24T17:02:02Z 2013-04-24 Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 http://hdl.handle.net/1721.1/78589 Hover, F. S. et al. “Advanced Perception, Navigation and Planning for Autonomous In-water Ship Hull Inspection.” The International Journal of Robotics Research 31.12 (2012): 1445–1464. https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-2621-7633 en_US http://dx.doi.org/10.1177/0278364912461059 International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Sage Publications MIT web domain |
| spellingShingle | Hover, Franz S. Eustice, Ryan M. Kim, Ayoung Englot, Brendan J. Johannsson, Hordur Kaess, Michael Leonard, John Joseph Advanced perception, navigation and planning for autonomous in-water ship hull inspection |
| title | Advanced perception, navigation and planning for autonomous in-water ship hull inspection |
| title_full | Advanced perception, navigation and planning for autonomous in-water ship hull inspection |
| title_fullStr | Advanced perception, navigation and planning for autonomous in-water ship hull inspection |
| title_full_unstemmed | Advanced perception, navigation and planning for autonomous in-water ship hull inspection |
| title_short | Advanced perception, navigation and planning for autonomous in-water ship hull inspection |
| title_sort | advanced perception navigation and planning for autonomous in water ship hull inspection |
| url | http://hdl.handle.net/1721.1/78589 https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-2621-7633 |
| work_keys_str_mv | AT hoverfranzs advancedperceptionnavigationandplanningforautonomousinwatershiphullinspection AT eusticeryanm advancedperceptionnavigationandplanningforautonomousinwatershiphullinspection AT kimayoung advancedperceptionnavigationandplanningforautonomousinwatershiphullinspection AT englotbrendanj advancedperceptionnavigationandplanningforautonomousinwatershiphullinspection AT johannssonhordur advancedperceptionnavigationandplanningforautonomousinwatershiphullinspection AT kaessmichael advancedperceptionnavigationandplanningforautonomousinwatershiphullinspection AT leonardjohnjoseph advancedperceptionnavigationandplanningforautonomousinwatershiphullinspection |