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© 2023 by the authors. 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/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.

Abstract

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.

Details

Title
Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments
Author
Rossi, Claudio  VIAFID ORCID Logo  ; Adrian Caro Zapata; Milosevic, Zorana  VIAFID ORCID Logo  ; Suarez, Ramon  VIAFID ORCID Logo  ; Dominguez, Sergio  VIAFID ORCID Logo 
First page
2371
Publication year
2023
Publication date
2023
Publisher
MDPI AG
e-ISSN
14248220
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2785234756
Copyright
© 2023 by the authors. 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/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.