Path planning algorithms for robotic underwater sensing in a network of sensors

Sreeja Banerjee, Carrick Detweiler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Monitoring lakes, rivers, and oceans is critical to improving our understanding of complex large-scale ecosystems. In this work, we develop and analyze three path planning algorithms for underwater robots to optimize sensing in conjunction with networks of underwater sensors. The algorithms require different levels of knowledge about the environment: global, local, and decentralized control of the robot by the sensor network. We find our global Voronoi approach produces paths that are typically best for sensing, but are longer, which can be problematic if the robot has limited endurance. The local algorithm, inspired by Tangent Bug, produces paths that are usually shorter while still having good sensing. The decentralized controller also has good sensing and short paths and has the advantage that it can also adapt the depths of the underwater sensors to jointly optimize the sensor network and robot sensing and the robot path length. The drawback is the somewhat higher communication and processing requirements. For each of these algorithms we perform a detailed analysis and comparison in simulation. We identify limitations of each and provide framework for future improvements.

Original languageEnglish (US)
Title of host publicationProceedings of the 9th ACM International Conference on Underwater Networks and Systems, WUWNET 2014
PublisherAssociation for Computing Machinery
ISBN (Electronic)9781450332774
DOIs
StatePublished - Nov 12 2014
Event9th ACM International Conference on Underwater Networks and Systems, WUWNet 2014 - Rome, Italy
Duration: Nov 12 2014Nov 14 2014

Publication series

NameProceedings of the 9th ACM International Conference on Underwater Networks and Systems, WUWNET 2014

Conference

Conference9th ACM International Conference on Underwater Networks and Systems, WUWNet 2014
Country/TerritoryItaly
CityRome
Period11/12/1411/14/14

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems

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