Efficient dense sonar surveys with an autonomous underwater vehicle

An algorithm for the in situ adaptation of the survey route of an autonomous underwater vehicle (AUV) equipped with side-looking sonars was recently proposed. This algorithm immediately exploits the through-the-sensor data that is collected during a mission in order to ensure that quality data is collected everywhere in the area of interest. By introducing flexibility into the survey of the AUV, various limitations of pre-planned surveys are overcome. In particular, the need to re-deploy the AUV (to fill gaps in the data coverage) is obviated. In turn, the time and costs of the data-collection mission are significantly reduced. In this work, we improve the aforementioned algorithm by introducing an additional constraint to the survey track-selection process. This modification significantly increases the efficiency of a survey by further reducing both transit time and the overall number of tracks executed. In particular, the revised algorithm more closely approximates the optimal survey route that would be...