Abstract
Underwater installations require regular inspection
and maintenance. We are exploring the idea of performing
these tasks using an autonomous underwater vehicle, achieving
persistent autonomous behaviour in order to avoid the need for
frequent human intervention. In this paper we consider one aspect
of this problem, which is the construction of a suitable plan for a
single inspection tour. In particular we generate a temporal plan
that optimises the time taken to complete the inspection mission.
We report on physical trials with the system at the Diver and
ROV driver Training Center in Fort William, Scotland, discussing
some of the lessons learned.
and maintenance. We are exploring the idea of performing
these tasks using an autonomous underwater vehicle, achieving
persistent autonomous behaviour in order to avoid the need for
frequent human intervention. In this paper we consider one aspect
of this problem, which is the construction of a suitable plan for a
single inspection tour. In particular we generate a temporal plan
that optimises the time taken to complete the inspection mission.
We report on physical trials with the system at the Diver and
ROV driver Training Center in Fort William, Scotland, discussing
some of the lessons learned.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2014) |
| Publication status | Published - 2014 |