@inproceedings{a5972b4d7f34459f9cc4c02de2806ae5,
title = "Coverage path planning for underwater pole inspection using an autonomous underwater vehicle",
abstract = "This paper presents a pre-mission coverage path planning specifically for visual inspection of a well-characterized underwater pole using an autonomous underwater vehicle. The target environment is modelled as a planar map for easy path planning. Various inspection paths are constructed based on the survey of current available coverage trajectories. Then, all the designed paths are analyzed to find a time optimal path among them which is able to provide complete coverage on the underwater pole surface while minimize the operational time needed. A robust property is added into the planned path to achieve robustness against the position uncertainty of autonomous underwater vehicle.",
keywords = "Autonomous Underwater Vehicle (AUV), Coverage Path Planning (CPP), underwater pole inspection",
author = "Song, {Yoong Siang} and Arshad, {Mohd Rizal}",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Automatic Control and Intelligent Systems, I2CACIS 2016 ; Conference date: 22-10-2016",
year = "2017",
month = mar,
day = "22",
doi = "10.1109/I2CACIS.2016.7885320",
language = "English",
series = "Proceedings - 2016 IEEE International Conference on Automatic Control and Intelligent Systems, I2CACIS 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "230--235",
booktitle = "Proceedings - 2016 IEEE International Conference on Automatic Control and Intelligent Systems, I2CACIS 2016",
}