Trajectory Planning Based on 3D CAD models for Autonomous Underwater Vehicle Inspection

This paper deals with a novel 6D trajectory planning approach for Autonomous Underwater Vehicle (AUV) that is performing Underwater Inspection Mission (UIM). AUV has attached SONAR system and is used for underwater 3D object surface reconstruction. Flat 3D CAD surface models and complex 3D CAD ship’s hull models are used for trajectory planning around them. Two geometry-based trajectory-planning approaches are considered in this paper, both having perpendicular look toward a surface of interest. Straight lines are planned along flat models, while plane-model intersection approach is used for planning around 3D ship’s hull models. UIM is usually done in dirty harbor waters where SONAR systems are more suited than camera systems due to better visibility in water. However, proposed trajectory planning method can be used for other types of sensors (camera, laser, radar) and different kind of environments and vehicles (helicopters, mobile robots).