A Hybrid Algorithm for Coverage Path Planning With Imperfect Sensors

Abstract — We are interested in the coverage path plan-ning problem with imperfect sensors, within the context of robotics for mine countermeasures. In the studied problem, an autonomous underwater vehicle (AUV) equipped with sonar surveys the bottom of the ocean searching for mines. We use a cellular decomposition to represent the ocean floor by a grid of uniform square cells. The robot scans a fixed number of cells sideways with a varying probability of detection as a function of distance and of seabed type. The goal is to plan a path that achieves the minimal required coverage in each cell while minimizing the total traveled distance and the total number of turns. We propose an off-line hybrid algorithm based on dynamic programming and on a traveling salesman problem reduction. We present experimental results and show that our algorithm’s performance is superior to published results in terms of path quality and computational time, which makes it possible to implement the algorithm in an AUV. I