Planning an interesting path

Faruq, Abdullah Ali (2017) Planning an interesting path. Masters thesis, Memorial University of Newfoundland.

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Abstract

Terrain aided navigation (TAN) is a well-studied method to localize an autonomous underwater vehicle in the absence of GPS. Researchers have been exploring new improvements; in particular Bachmayer and Claus have been incorporating terrain based navigation (glider TAN) into the Slocum gliders. To take full advantage of glider TAN, the glider path should favour areas of the ocean with uneven depth and unique features. This leads to a question of planning such an "interesting" path for the glider. In this thesis, we present an offline path planning algorithm that optimizes the distance under the maximum uncertainty constraint. A major part of our contribution is developing a rating technique for evaluating the usefulness of an area of the ocean floor for reducing the uncertainty of the glider’s position. We include experimental results showing how the generated path varies with the maximum allowable uncertainty, based on the ocean elevation data of the Conception Bay near Holyrood, Newfoundland.

Item Type: Thesis (Masters)
URI: http://research.library.mun.ca/id/eprint/12649
Item ID: 12649
Additional Information: Includes bibliographical references (pages 77-86).
Keywords: path planning, uncertainty, glider, AUV
Department(s): Science, Faculty of > Computer Science
Date: February 2017
Date Type: Submission
Library of Congress Subject Heading: Underwater navigation -- Newfoundland and Labrador -- Holyrood; Autonomous vehicles

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