Use this URL to cite or link to this record in EThOS:
Title: Probablistic approaches for intelligent AUV localisation
Author: Maurelli, Francesco
ISNI:       0000 0004 5348 2648
Awarding Body: Heriot-Watt University
Current Institution: Heriot-Watt University
Date of Award: 2014
Availability of Full Text:
Access from EThOS:
Access from Institution:
This thesis studies the problem of intelligent localisation for an autonomous underwater vehicle (AUV). After an introduction about robot localisation and specific issues in the underwater domain, the thesis will focus on passive techniques for AUV localisation, highlighting experimental results and comparison among different techniques. Then, it will develop active techniques, which require intelligent decisions about the steps to undertake in order for the AUV to localise itself. The undertaken methodology consisted in three stages: theoretical analysis of the problem, tests with a simulation environment, integration in the robot architecture and field trials. The conclusions highlight applications and scenarios where the developed techniques have been successfully used or can be potentially used to enhance the results given by current techniques. The main contribution of this thesis is in the proposal of an active localisation module, which is able to determine the best set of action to be executed, in order to maximise the localisation results, in terms of time and efficiency.
Supervisor: Petillot, Yvan; Lane, David Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available