Underwater Autonomous Vehicle Coverage Path Planning

A project exploring path planning for underwater autonomous vehicles facing drift and localization errors.

Features

• Lawnmower path planning
• Drift simulation
• Localization error simulation
• Coverage visualization
• TODOs:
  • Add localization action to correct error
  • Test on Linux

Installation

The project requires Python 3 and uses uv for dependency management.

Steps:

1. Install uv if not already installed: guide here.
2. Clone the repository git clone git@github.com:arnob2601/uav-cpp.git

Windows

Chocolatey first and then using that GNU Make need to be installed for windows powershell for running the makefile.

Usage

Run the simulation uv run scripts/simulation.py

Sample Outputs

Considering perfect localization and no drift	Considering drift and localization error

Run tests:

make test

By default, tests are run in parallel using all available cores. To specify the number of workers, use the N argument:

make test N=4