Unified random finite set theoretic approach to autonomous underwater vehicle navigation

216 p.

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Bibliographic Details
Main Author:	Bharath Kalyan
Other Authors:	Arjuna Balasuriya
Format:	Theses and Dissertations
Published:	2011
Subjects:	DRNTU::Engineering::Electrical and electronic engineering
Online Access:	https://hdl.handle.net/10356/46893
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-46893
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spelling	sg-ntu-dr.10356-468932023-07-04T17:07:52Z Unified random finite set theoretic approach to autonomous underwater vehicle navigation Bharath Kalyan Arjuna Balasuriya Wijerupage Sardha Wijesoma School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering 216 p. This thesis addresses the problem of navigation, localization and mapbuilding in an unknown and unstructured environment and its application to an autonomous underwater vehicle (AUV). Given the dynamic nature of the underwater environment and the limitations of traditional baseline based systems, the inability to use GPS underwater, and the range limited optical vision systems, our approach for overcoming these navigation limitations has been to embrace a feature based simultaneous localization and mapping (SLAM) framework while explicitly exploiting the available navigational sensor suite and rich blazed array sonar imagery that is commonly used in underwater explorations. The most common formulation of the feature based SLAM problem is founded on a vector based stochastic framework, where the sensor models and the vehicle models are represented in state space form and the joint posterior or its statistics are obtained based on recursive Bayesian estimation. DOCTOR OF PHILOSOPHY (EEE) 2011-12-27T05:42:36Z 2011-12-27T05:42:36Z 2011 2011 Thesis Bharath, K. (2011). Unified random finite set theoretic approach to autonomous underwater vehicle navigation. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/46893 10.32657/10356/46893 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Electrical and electronic engineering
spellingShingle	DRNTU::Engineering::Electrical and electronic engineering Bharath Kalyan Unified random finite set theoretic approach to autonomous underwater vehicle navigation
description	216 p.
author2	Arjuna Balasuriya
author_facet	Arjuna Balasuriya Bharath Kalyan
format	Theses and Dissertations
author	Bharath Kalyan
author_sort	Bharath Kalyan
title	Unified random finite set theoretic approach to autonomous underwater vehicle navigation
title_short	Unified random finite set theoretic approach to autonomous underwater vehicle navigation
title_full	Unified random finite set theoretic approach to autonomous underwater vehicle navigation
title_fullStr	Unified random finite set theoretic approach to autonomous underwater vehicle navigation
title_full_unstemmed	Unified random finite set theoretic approach to autonomous underwater vehicle navigation
title_sort	unified random finite set theoretic approach to autonomous underwater vehicle navigation
publishDate	2011
url	https://hdl.handle.net/10356/46893
_version_	1772825754491420672

Unified random finite set theoretic approach to autonomous underwater vehicle navigation

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