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Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments

In this work, we present the design, implementation, and simulation of a topology-based navigation system for the UX-series robots, a spherical underwater vehicle designed to explore and map flooded underground mines. The objective of the robot is to navigate autonomously in the 3D network of tunnel...

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Autores principales: Rossi, Claudio, Caro Zapata, Adrian, Milosevic, Zorana, Suarez, Ramon, Dominguez, Sergio
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10007106/
https://www.ncbi.nlm.nih.gov/pubmed/36904575
http://dx.doi.org/10.3390/s23052371
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author Rossi, Claudio
Caro Zapata, Adrian
Milosevic, Zorana
Suarez, Ramon
Dominguez, Sergio
author_facet Rossi, Claudio
Caro Zapata, Adrian
Milosevic, Zorana
Suarez, Ramon
Dominguez, Sergio
author_sort Rossi, Claudio
collection PubMed
description In this work, we present the design, implementation, and simulation of a topology-based navigation system for the UX-series robots, a spherical underwater vehicle designed to explore and map flooded underground mines. The objective of the robot is to navigate autonomously in the 3D network of tunnels of a semi-structured but unknown environment in order to gather geoscientific data. We start from the assumption that a topological map has been generated by a low-level perception and SLAM module in the form of a labeled graph. However, the map is subject to uncertainties and reconstruction errors that the navigation system must address. First, a distance metric is defined to compute node-matching operations. This metric is then used to enable the robot to find its position on the map and navigate it. To assess the effectiveness of the proposed approach, extensive simulations have been carried out with different randomly generated topologies and various noise rates.
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spelling pubmed-100071062023-03-12 Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments Rossi, Claudio Caro Zapata, Adrian Milosevic, Zorana Suarez, Ramon Dominguez, Sergio Sensors (Basel) Article In this work, we present the design, implementation, and simulation of a topology-based navigation system for the UX-series robots, a spherical underwater vehicle designed to explore and map flooded underground mines. The objective of the robot is to navigate autonomously in the 3D network of tunnels of a semi-structured but unknown environment in order to gather geoscientific data. We start from the assumption that a topological map has been generated by a low-level perception and SLAM module in the form of a labeled graph. However, the map is subject to uncertainties and reconstruction errors that the navigation system must address. First, a distance metric is defined to compute node-matching operations. This metric is then used to enable the robot to find its position on the map and navigate it. To assess the effectiveness of the proposed approach, extensive simulations have been carried out with different randomly generated topologies and various noise rates. MDPI 2023-02-21 /pmc/articles/PMC10007106/ /pubmed/36904575 http://dx.doi.org/10.3390/s23052371 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Rossi, Claudio
Caro Zapata, Adrian
Milosevic, Zorana
Suarez, Ramon
Dominguez, Sergio
Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments
title Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments
title_full Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments
title_fullStr Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments
title_full_unstemmed Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments
title_short Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments
title_sort topological navigation for autonomous underwater vehicles in confined semi-structured environments
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10007106/
https://www.ncbi.nlm.nih.gov/pubmed/36904575
http://dx.doi.org/10.3390/s23052371
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