Planning in circles: Autonomous planning for circular synthetic aperture sonar imaging with AUVs
- Circular synthetic aperture sonar (CSAS) techniques utilize complete aspect angle coverage to increase the information in sonar images, which can increase the accuracy of acoustic detection, classification and identification of threats in MCM missions and monitoring of CUI.
- The proposed method autonomously creates a complete survey mission for CSAS for multiple circular survey areas, minimizing the overall path length, and taking into account motion constraints.
- The method is easy to use for human operators through a simple GUI for providing the mission goals to the AUV.
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