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Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building
Joint Authors
Yang, Simon X.
Yan, Mingzhong
Zhu, Daqi
Source
International Journal of Distributed Sensor Networks
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-10-17
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Telecommunications Engineering
Information Technology and Computer Science
Abstract EN
A real-time map-building system is proposed for an autonomous underwater vehicle (AUV) to build a map of an unknown underwater environment.
The system, using the AUV's onboard sensor information, includes a neurodynamics model proposed for complete coverage path planning and an evidence theoretic method proposed for map building.
The complete coverage of the environment guarantees that the AUV can acquire adequate environment information.
The evidence theory is used to handle the noise and uncertainty of the sensor data.
The AUV dynamically plans its path with obstacle avoidance through the landscape of neural activity.
Concurrently, real-time sensor data are “fused” into a two-dimensional (2D) occupancy grid map of the environment using evidence inference rule based on the Dempster-Shafer theory.
Simulation results show a good quality of map-building capabilities and path-planning behaviors of the AUV.
American Psychological Association (APA)
Yan, Mingzhong& Zhu, Daqi& Yang, Simon X.. 2012. Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building. International Journal of Distributed Sensor Networks،Vol. 2012, no. 2012, pp.1-11.
https://search.emarefa.net/detail/BIM-481352
Modern Language Association (MLA)
Yan, Mingzhong…[et al.]. Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building. International Journal of Distributed Sensor Networks No. 2012 (2012), pp.1-11.
https://search.emarefa.net/detail/BIM-481352
American Medical Association (AMA)
Yan, Mingzhong& Zhu, Daqi& Yang, Simon X.. Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building. International Journal of Distributed Sensor Networks. 2012. Vol. 2012, no. 2012, pp.1-11.
https://search.emarefa.net/detail/BIM-481352
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-481352