[2209.11864] Stochastic Planning for ASV Navigation Using Satellite Images
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Computer Science > Robotics

arXiv:2209.11864 (cs)
[Submitted on 23 Sep 2022 (v1), last revised 28 Apr 2023 (this version, v2)]

Title:Stochastic Planning for ASV Navigation Using Satellite Images

Authors:Yizhou Huang, Hamza Dugmag, Timothy D. Barfoot, Florian Shkurti
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Abstract:Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between the satellite images and the actual lake, as well as environmental disturbances such as wind, aquatic vegetation, and changing water levels can make it difficult for robots to visit places suggested by the prior map. This paper presents a robust route-planning algorithm that minimizes the expected total travel distance given these environmental disturbances, which induce uncertainties in the map. We verify the efficacy of our algorithm in simulations of over a thousand Canadian lakes and demonstrate an application of our algorithm in a 3.7 km-long real-world robot experiment on a lake in Northern Ontario, Canada. Videos are available on our website this https URL.
Comments: 7 pages, 5 figures
Subjects: Robotics (cs.RO)
Cite as: arXiv:2209.11864 [cs.RO]
  (or arXiv:2209.11864v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2209.11864

Submission history

From: Yizhou Huang [view email]
[v1] Fri, 23 Sep 2022 21:25:48 UTC (10,265 KB)
[v2] Fri, 28 Apr 2023 15:27:36 UTC (48,554 KB)
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