A Feature-Based Underwater Path Planning Approach using Multiple Perspective Prior Maps
Daniel Cagara,Matthew Dunbabin,Paul Rigby,Daniel Cagara,Matthew Dunbabin,Paul Rigby
This paper presents a path planning methodology which enables Autonomous Underwater Vehicles (AUVs) to navigate in shallow complex environments such as coral reefs. The approach leverages prior information from an aerial photographic survey, and derived bathymetric information of the corresponding area. From these prior maps, a set of features is obtained which define an expected arrangement of ob...
