Adaptive continuous‐space informative path planning for online environmental monitoring

• Published in: Journal of field robotics Vol. 34; no. 8; pp. 1427 - 1449
• Main Authors: Hitz, Gregory, Galceran, Enric, Garneau, Marie‐Ève, Pomerleau, François, Siegwart, Roland
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.12.2017
• Subjects: active sensing; Algorithms; Computer memory; Data collection; Ecological monitoring; Environmental monitoring; Evolutionary algorithms; informative path planning; marine robotics; Microorganisms; Path planning; Planning; Polypropylene; Spots
• DOI: 10.1002/rob.21722
• ISSN: 1556-4959

Autonomous mobile robots are increasingly employed to take measurements for environmental monitoring, but planning informative, measurement‐rich paths through large three‐dimensional environments is still challenging. Designing such paths, known as the informative path planning (IPP) problem, has been shown to be NP‐hard. Existing algorithms focus on providing guarantees on suboptimal solutions, but do not scale well to large problems. In this paper, we introduce a novel IPP algorithm that uses an evolutionary strategy to optimize a parameterized path in continuous space, which is subject to various constraints regarding path budgets and motion capabilities of an autonomous mobile robot. Moreover, we introduce a replanning scheme to adapt the planned paths according to the measurements taken in situ during data collection. When compared to two state‐of‐the‐art solutions, our method provides competitive results at significantly lower computation times and memory requirements. The proposed replanning scheme enables to build models with up to 25% lower uncertainty within an initially unknown area of interest. Besides presenting theoretical results, we tailored the proposed algorithms for data collection using an autonomous surface vessel for an ecological study, during which the method was validated through three field deployments on Lake Zurich, Switzerland. Spatiotemporal variations are shown over a period of three months and in an area of 350 m × 350 m × 13 m. Whereas our theoretical solution can be applied to multiple applications, our field results specifically highlight the effectiveness of our planner for monitoring toxic microorganisms in a pre‐alpine lake, and for identifying hot‐spots within their distribution.