Seminar: Planning an Interesting Path
Abdullah Ali Faruq
Supervisor: Dr. Antonina Kolokolova
Planning an Interesting Path
Department of Computer Science
Wednesday, November 23, 2016, 3:00 p.m., Room EN 2022
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.