Coverage path planning for harbour seabed surveys using an autonomous underwater vehicle

Fang, Cheng; Anstee, Stuart

doi:10.1109/oceanssyd.2010.5603591

Cited by 11 publications

(2 citation statements)

References 25 publications

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“…In Rekleitis et al (2008) it is applied in the context of multirobot CCPP, whereas (Liu et al, 2019) utilizes a Boustrophedon decomposition to perform efficient point‐to‐point path planning. Further examples are the application in the field of CCPP for inspection with UAVs (Pérez‐González et al, 2021), and for harbor seabed surveys with AUVs (Fang & Anstee, 2010). In Mannadiar and Rekleitis (2010) a CCPP algorithm is proposed to achieve minimal path length based on the Boustrophedon decomposition.…”

Section: Guidance Tracks For Nonconvex Areamentioning

confidence: 99%

Optimal guidance track generation for precision agriculture: A review of coverage path planning techniques

Höffmann,

Patel,

Büskens

2024

Journal of Field Robotics

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The Complete Coverage Path Planning (CCPP) problem is a subfield of industrial motion planning that has applications in various domains, ranging from mobile robotics to treatment applications. Especially in precision agriculture with a high level of automation, the use of CCPP techniques is essential for efficient resource utilization, reduced soil compaction, and increased yields. This paper reviews the CCPP problem in the context of machines operating in agricultural fields and proposes a methodological approach consisting of three steps: Generating the Guidance Tracks (i.e., the track system along which the path should be oriented), determining the traversing sequence through these tracks, and planning a smooth and drivable path. This paper provides an in‐depth review of optimization‐based approaches that deal with the first step, the generation of the guidance track system. Thereby, a comprehensive and pedagogical approach for the generation of guidance tracks for arbitrarily shaped two‐dimensional regions of interest is provided, along with an overview and detailed elaboration on different exact cellular decomposition techniques found in literature. Furthermore, cost functions are outlined for the different approaches presented in this work, which are utilized to generate optimal guidance tracks. Finally, this survey serves as an introductory guide for research and practitioners to solve the CCPP problem effectively and efficiently.

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Section: Guidance Tracks For Nonconvex Areamentioning

confidence: 99%

Optimal guidance track generation for precision agriculture: A review of coverage path planning techniques

Höffmann,

Patel,

Büskens

2024

Journal of Field Robotics

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“…This technique was initially introduced in [28] and later extended in [29]. The BCD finds widespread application in various fields, such as multi-robot complete coverage path planning [30], efficient point-topoint path planning [31], inspection with UAVs [32], harbor seabed surveys with AUVs [33], and achieving minimal path length [34]. In this paper, we adopt the BCD method, following the recommendation in [15], to decompose the ROI into simple, in this case monotone, cells.…”

Section: Cellular Decomposition Of Interior Field and Interior Guidan...mentioning

confidence: 99%

Optimal Coverage Path Planning for Agricultural Vehicles with Curvature Constraints

Höffmann,

Patel,

Büskens

2023

Agriculture

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Complete coverage path planning (CCPP) is vital in mobile robot applications. Optimizing CCPP is particularly significant in precision agriculture, where it enhances resource utilization, reduces soil compaction, and boosts crop yields. This work offers a comprehensive approach to CCPP for agricultural vehicles with curvature constraints. Our methodology comprises four key stages. First, it decomposes complex agricultural areas into simpler cells, each equipped with guidance tracks, forming a fixed track system. The subsequent route planning and smooth path planning stages compute a path that adheres to path constraints, optimally traverses the cells, and aligns with the track system. We use the generalized traveling salesman problem (GTSP) to determine the optimal traversing sequence. Additionally, we introduce an algorithm for calculating paths that are both smooth and curvature-constrained within individual cells, as well as paths that enable seamless transitions between cells, resulting in a smooth, curvature-constraint coverage path. Our modular approach allows method flexibility at each step. We evaluate our method on real agricultural fields, demonstrating its effectiveness in minimizing path length, ensuring efficient coverage, and adhering to curvature constraints. This work establishes a strong foundation for precise and efficient agricultural coverage path planning, with potential for further real-world applications and enhancements.

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Coverage path planning based on a multiple sweep line decomposition

Hung

2015

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

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Coverage path planning for harbour seabed surveys using an autonomous underwater vehicle

Cited by 11 publications

References 25 publications

Optimal guidance track generation for precision agriculture: A review of coverage path planning techniques

Optimal guidance track generation for precision agriculture: A review of coverage path planning techniques

Optimal Coverage Path Planning for Agricultural Vehicles with Curvature Constraints

Coverage path planning based on a multiple sweep line decomposition

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