PRECISE LOCALIZATION TO SUPPORT AUTONOMOUS SHIP-SCALE OPERATIONS
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Authors
Sale, Joshua
Subjects
autonomy
autonomous systems
localization
ultra wideband
radio frequency
optoelectronic motion capture
unmanned systems
robot
ordnance handling
lane following
feature based computer vision
ROS
robotic operating system
autonomous systems
localization
ultra wideband
radio frequency
optoelectronic motion capture
unmanned systems
robot
ordnance handling
lane following
feature based computer vision
ROS
robotic operating system
Advisors
Bingham, Brian S.
Date of Issue
2019-09
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
The use of unmanned systems is a rapidly expanding component of operations aboard naval vessels and has the potential to significantly improve the onboard safety and efficiency. Because of the complexity of many shipboard environments, where humans and unmanned systems will be working simultaneously, realizing this potential will require precise and accurate robot localization. This thesis investigates the performance of a relatively low-cost, commercial-off-the-shelf, ultra-wideband (UWB) positioning system to support human-machine teaming onboard naval vessels. This investigation includes a quantitative comparison of the UWB positioning system with a high-cost, high-accuracy, optoelectronic motion capture positioning system. To provide further context, the performance of intrinsic robot navigation through feature-based computer-vision navigation is examined. This research suggests that UWB positioning provides the sufficient precision and relative accuracy for many applications onboard naval vessels and presents a discussion of the contrast between extrinsic positioning and intrinsic feature-based, computer-vision navigation, highlighting the tradeoffs between the approaches.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
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NPS Report Number
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Funder
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Citation
Distribution Statement
Approved for public release; distribution is unlimited.
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.