自主水面车辆基于河曲的河流覆盖
Meander Based River Coverage by an Autonomous Surface Vehicle
摘要：
自主覆盖对于在河流上执行的环境调查和勘探任务在效率和数据汇集质量方面都具有巨大的重要性。大多数河流调查都是使用非常相似的方法手动进行的。使用这些实践来自动化这些过程可以提高调查操作的质量。除了人类对图案类型的专业知识之外，还可以使用河流蜿蜒来确定覆盖方向来优化河流的覆盖范围。在这项工作中，我们使用的隐含信息的水流速度，推断从曲线的河流，以减少成本的覆盖。我们使用自主水面车辆（ASV）部署所提出的方法，并证明我们的方法的效率。此外，我们比较所提出的方法与以前的覆盖技术在我们的实验室。当考虑到蜿蜒的覆盖时间平均减少了20%以上。ASV的部署是在美国南卡罗来纳州的Congaree河上进行的，并产生了超过27公里的总覆盖轨迹。
英文摘要：
Autonomous coverage has tremendous importance for environmental surveying and exploration tasks performed on rivers both in terms of efficiency and data collection quality. Most surveys of rivers are performed manually using quite similar approaches. Using these practices to automate these processes improves the quality of survey operations. In addition to human expertise on the type of patterns,the coverage of a river can be optimized using the river meanders to determine the direction of coverage. In this work we use the implicit information on the speed of the water current, inferred from the curves of the river, to reduce the cost of cover-age. We use autonomous surface vehicles (ASVs) to deploy the proposed methods and demonstrate the efficiency of our method. In addition we compare the proposed method with previous coverage techniques developed in our lab. When taking into account meanders the coverage time has been decreased in average by more than 20%. The deployments of the ASVs were performed on the Congaree River, SC,USA, and resulted in more than 27km of total coverage trajectories.
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