Search methods for an autonomous underwater vehicle using scalar measurements
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Authors
Burian, Erik Alfred
Subjects
Advisors
Date of Issue
1996
Date
Publisher
Monterey California. Naval Postgraduate School
Language
en_US
Abstract
The continuing development of the autonomous underwater vehicle as an oceanographic research tool has opened up the realm of scientific possibility in the field of deep ocean research. The ability of a vehicle to travel to the ocean floor untethered, collect data for an extended period of time and return to the surface for recovery can make precise oceanographic surveying more economically practical and more efficient. This thesis investigates several scalar parameter searching techniques which have their basis in mathematical optimization algorithms and their applicability for use specifically within the context of autonomous underwater vehicle dynamics. In particular, a modified version of the circular gradient evaluation in the simulated environment of a hydrothermal plume is examined as a test case. Using a priori knowledge of the expected structure of the scalar parameter contour is shown to be advantageous in optimizing the search
Type
Thesis
Description
CIVINS (Civilian Institutions) Thesis document
Series/Report No
Department
Organization
Massachusetts Institute of Technology
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NPS Report Number
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Funder
CIVINS
Format
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.