标题： REACT：面向系留水下车辆的实时纠缠感知覆盖路径规划 显示英文标题

标题： REACT: Real-time Entanglement-Aware Coverage Path Planning for Tethered Underwater Vehicles

摘要： 通过系绳水下车辆检查复杂的水下结构通常受到系绳缠绕风险的阻碍。 我们提出了REACT（实时系绳感知覆盖路径规划，real-time entanglement-aware coverage path planning for tethered underwater vehicles），一种旨在克服这一限制的框架。 REACT采用基于几何的快速系绳模型，利用带符号距离场（SDF）地图，在三维空间中对任意结构周围的紧绷系绳配置进行准确的实时模拟。 该模型通过强制最大系绳长度约束，实现高效的在线重规划策略，从而主动防止缠绕。 通过将REACT集成到覆盖路径规划框架中，我们实现了安全且最优的检查路径，这在以往由于系绳约束而难以实现。 REACT框架的完整性在管道检查场景中得到验证，展示了安全、无缠绕的导航和全覆盖检查。 仿真结果表明，尽管由于主动避免缠绕导致检查时间较长，REACT在保持系绳约束的同时，比传统规划器完成整个任务快20%，从而消除了任务后大量的解缠绕工作。 实地实验确认了这些优势，其中REACT完成了整个任务，而基准规划器由于物理系绳缠绕而失败。 显示英文摘要

摘要： Inspection of complex underwater structures with tethered underwater vehicles is often hindered by the risk of tether entanglement. We propose REACT (real-time entanglement-aware coverage path planning for tethered underwater vehicles), a framework designed to overcome this limitation. REACT comprises a fast geometry-based tether model using the signed distance field (SDF) map for accurate, real-time simulation of taut tether configurations around arbitrary structures in 3D. This model enables an efficient online replanning strategy by enforcing a maximum tether length constraint, thereby actively preventing entanglement. By integrating REACT into a coverage path planning framework, we achieve safe and optimal inspection paths, previously challenging due to tether constraints. The complete REACT framework's efficacy is validated in a pipe inspection scenario, demonstrating safe, entanglement-free navigation and full-coverage inspection. Simulation results show that REACT achieves complete coverage while maintaining tether constraints and completing the total mission 20% faster than conventional planners, despite a longer inspection time due to proactive avoidance of entanglement that eliminates extensive post-mission disentanglement. Real-world experiments confirm these benefits, where REACT completes the full mission, while the baseline planner fails due to physical tether entanglement.