{"id":6699,"date":"2018-11-15T12:44:46","date_gmt":"2018-11-15T11:44:46","guid":{"rendered":"http:\/\/vicorob.udg.edu\/?p=6699"},"modified":"2018-11-15T12:44:46","modified_gmt":"2018-11-15T11:44:46","slug":"doctoral-thesis-online-acoustic-localization-methods-for-autonomous-underwater-vehicles","status":"publish","type":"post","link":"https:\/\/vicorob.udg.edu\/es\/doctoral-thesis-online-acoustic-localization-methods-for-autonomous-underwater-vehicles\/","title":{"rendered":"DOCTORAL THESIS: Online Acoustic Localization Methods for Autonomous Underwater Vehicles"},"content":{"rendered":"<p>By<strong> Guillem Vallicrosa Massaguer<br \/>\n<\/strong><\/p>\n<p>Supervised by<strong> Dr. Pere Ridao<br \/>\n<\/strong><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>Abstract<\/strong><\/h3>\n<p>Autonomous Underwater Vehicles (AUVs) true autonomy capabilities in complex poten-tially unknown environments, have not yet been fully achieved because of the lack of online algorithms that can solve fundamental problems such as localization, mapping and path-planning on-board the AUV and consequently react according to their outputs. These algorithms can empower them for new capabilities such as long-term deployments, au-tonomous exploration and autonomous intervention.<\/p>\n<p>&nbsp;<\/p>\n<p>This thesis presents the development of two online localization algorithms for AUVs. The first algorithm is based on a Sum of Gaussian (SOG) filter for online range-only lo-calization of an acoustic beacon, e.g. localization of a Docking Station (DS) for battery recharging and data uploading. Two different versions of the algorithm are developed, one based on Dead Reckoning (DR) navigation and one based on a full Simultaneous Local-ization and Mapping (SLAM) solution. Moreover, an Active Localization (AL) algorithm is also developed to autonomously select the best actions that minimize the range-only localization uncertainty. This algorithm is also tested as part of a wider project where it is combined with other algorithms to produce a complete homing and docking strat-egy. Consequently, this algorithm can help long-term deployed AUVs being able to always return to their base DS for battery recharging.<\/p>\n<p>&nbsp;<\/p>\n<p>The second algorithm proposes a new online SLAM framework for continuous occu-pancy mapping named H-SLAM. It uses a Rao-Blackwellized Particle Filter (RBPF) where each particle carries a HM representation of the environment. HMs offer a low memory footprint and constant computational complexity O(1) for insertion and query, suitable for online processing. This algorithm is tested on two real-world datasets offering a sig-nificantly better reconstruction of the environment than using DR navigation. Producing correct continuous occupancy maps and trajectories, opens plenty of possibilities for future combination with online path-planning algorithms.<\/p>\n<p>&nbsp;<\/p>\n<p>Online video: <a href=\"https:\/\/bit.ly\/2qMWc9d\">https:\/\/bit.ly\/2qMWc9d<\/a><\/p>\n<p>[vc_row row_type=\u00bbrow\u00bb text_align=\u00bbleft\u00bb css_animation=\u00bb\u00bb][vc_column][vc_empty_space][vc_single_image image=\u00bb6704&#8243; img_size=\u00bbfull\u00bb][\/vc_column][\/vc_row]<\/p>\n","protected":false},"excerpt":{"rendered":"<p>By Guillem Vallicrosa Massaguer Supervised by Dr. Pere Ridao &nbsp; Abstract Autonomous Underwater Vehicles (AUVs) true autonomy capabilities in complex poten-tially unknown environments, have not yet been fully achieved because of the lack of online algorithms that can solve fundamental problems such as localization, mapping and path-planning on-board the AUV and consequently react according to&hellip;&nbsp;<\/p>\n","protected":false},"author":1,"featured_media":6707,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","footnotes":""},"categories":[12,58],"tags":[],"class_list":["post-6699","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-news","category-scientific-results"],"acf":[],"_links":{"self":[{"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/posts\/6699","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/comments?post=6699"}],"version-history":[{"count":0,"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/posts\/6699\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/media\/6707"}],"wp:attachment":[{"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/media?parent=6699"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/categories?post=6699"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/vicorob.udg.edu\/es\/wp-json\/wp\/v2\/tags?post=6699"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}