In this letter we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing with the objective of collecting better data. We achieve this by shifting the coverage overlap at the tail of the sensor range where the lowest data quality is expected. To assess the algorithm, we collected data from three at-sea experiments. The adaptive survey allowed the AUV to recover from a situation where the sensor range was overestimated and resulted in reducing area coverage gaps. In another experiment, the adaptive survey showed a 4.2% improvement in data quality for nearly 30% of the ‘worst’ data.

中文翻译：

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用于自主水下航行器的具有轨道间距自适应的覆盖路径规划

在这封信中，我们解决了使用侧视声纳测量海床的自主水下航行器 (AUV) 的水雷对抗 (MCM) 搜索问题。我们提出了一种覆盖路径规划方法，该方法适应 AUV 轨道间距，目的是收集更好的数据。我们通过在预期数据质量最低的传感器范围尾部移动覆盖重叠来实现这一点。为了评估算法，我们从三个海上实验中收集了数据。自适应勘测允许 AUV 从传感器范围被高估并导致区域覆盖差距缩小的情况中恢复。在另一项实验中，自适应调查显示，近 30% 的“最差”数据的数据质量提高了 4.2%。