Seminar: Planning an Interesting Path

Abdullah Ali Faruq
M.Sc. Candidate
Supervisor: Dr. Antonina Kolokolova

Planning an Interesting Path

Department of Computer Science
Wednesday, November 23, 2016, 3:00 p.m., Room EN 2022


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 Ralf Bachmayer and Brian Claus from Autonomous Oceans Systems Laboratory 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. Hence comes the opportunity of designing an interesting path for the glider.

More specifically, we present an offline path planning algorithm that optimizes the distance under the maximum uncertainty constraint. A major part of our work is developing techniques for evaluating the usefulness of an area of the ocean floor for reducing the uncertainty of the glider’s position.

 

Contact

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