Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization

Yang Li; Rongxin Cui; Demin Xu; Shuqiang Liu

doi:10.1109/ICARM.2018.8610730

Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization

Yang Li
, Rongxin Cui
, Demin Xu
, Shuqiang Liu

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

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.

Original language	English
Title of host publication	ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	566-571
Number of pages	6
ISBN (Electronic)	9781538670668
DOIs	https://doi.org/10.1109/ICARM.2018.8610730
State	Published - 11 Jan 2019
Event	3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 - Singapore, Singapore Duration: 18 Jul 2018 → 20 Jul 2018

Publication series

Name	ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics

Conference

Conference	3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Country/Territory	Singapore
City	Singapore
Period	18/07/18 → 20/07/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

Cross entropy optimization
Gaussian process
Informative path planning

Access to Document

10.1109/ICARM.2018.8610730

Cite this

Li, Y., Cui, R., Xu, D., & Liu, S. (2019). Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization. In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics (pp. 566-571). Article 8610730 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2018.8610730

Li, Yang ; Cui, Rongxin ; Xu, Demin et al. / Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization. ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 566-571 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics).

@inproceedings{285082436ac54f668626bc0ca93397d0,

title = "Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization",

abstract = "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.",

keywords = "Cross entropy optimization, Gaussian process, Informative path planning",

author = "Yang Li and Rongxin Cui and Demin Xu and Shuqiang Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 ; Conference date: 18-07-2018 Through 20-07-2018",

year = "2019",

month = jan,

day = "11",

doi = "10.1109/ICARM.2018.8610730",

language = "英语",

series = "ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "566--571",

booktitle = "ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics",

}

Li, Y, Cui, R, Xu, D & Liu, S 2019, Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization. in ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics., 8610730, ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 566-571, 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018, Singapore, Singapore, 18/07/18. https://doi.org/10.1109/ICARM.2018.8610730

Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization. / Li, Yang; Cui, Rongxin; Xu, Demin et al.
ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. p. 566-571 8610730 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 - https://www.scopus.com/pages/publications/85061500247

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 -

Li Y, Cui R, Xu D, Liu S. Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization. In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2019. p. 566-571. 8610730. (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). doi: 10.1109/ICARM.2018.8610730

Online Informative Path Planning for Autonomous Underwater Vehicles with Cross Entropy Optimization

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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