Abstract
In this paper, we present trajectory planning method for Hovering Autonomous Underwater Vehicle (HAUV), based on Extended Kalman-Filter (EKF) process. Our planner is based on Rapid Random Trees (RRT) concept, generating visibility motion primitives in 3D underwater environments with obstacle avoidance capability. As far as we know, we present for the first time HAUV planner with visibility analysis for different kind of applications such as hull inspection where visibility analysis can be very crucial.
| Original language | English |
|---|---|
| Journal | Journal of Unmanned System Technology |
| Volume | 5 |
| Issue number | 1 |
| State | Published - 2017 |