TY - GEN
T1 - Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization
AU - Li, Yang
AU - Cui, Rongxin
AU - Xu, Demin
AU - Liu, Shuqiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/11
Y1 - 2019/1/11
N2 - Autonomous underwater vehicles (AUVs) have been extensively utilized both in civil and military applications, among which the marine environment monitoring is one of the key issue. In this paper, we focus on online informative path planning for long-term monitoring in continuous workspace. We point out that the likelihood of measurements is related to when it is acquired. Thus we first model the underwater environment based on modified Gaussian process (GP) with considering the dynamic likelihood of measurements. Then, clamped B-curve is utilized to parametrize the continuous path segments. In order to maximize the amount of received information, we propose a path replanning scheme based on cross-entropy optimization. Moreover, we introduce the numerical simulation to highlight the effectiveness of our algorithm.
AB - Autonomous underwater vehicles (AUVs) have been extensively utilized both in civil and military applications, among which the marine environment monitoring is one of the key issue. In this paper, we focus on online informative path planning for long-term monitoring in continuous workspace. We point out that the likelihood of measurements is related to when it is acquired. Thus we first model the underwater environment based on modified Gaussian process (GP) with considering the dynamic likelihood of measurements. Then, clamped B-curve is utilized to parametrize the continuous path segments. In order to maximize the amount of received information, we propose a path replanning scheme based on cross-entropy optimization. Moreover, we introduce the numerical simulation to highlight the effectiveness of our algorithm.
KW - Cross entropy optimization
KW - Gaussian process
KW - Informative path planning
UR - http://www.scopus.com/inward/record.url?scp=85061500247&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2018.8610730
DO - 10.1109/ICARM.2018.8610730
M3 - 会议稿件
AN - SCOPUS:85061500247
T3 - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
SP - 566
EP - 571
BT - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Y2 - 18 July 2018 through 20 July 2018
ER -
