PRECISE LOCALIZATION TO SUPPORT AUTONOMOUS SHIP-SCALE OPERATIONS

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dc.contributor.advisorBingham, Brian S.
dc.contributor.authorSale, Joshua
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)
dc.contributor.secondreaderKaminer, Isaac I.
dc.date.accessioned2019-11-04T18:20:20Z
dc.date.available2019-11-04T18:20:20Z
dc.date.issued2019-09
dc.description.abstractThe 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.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.serviceLieutenant, United States Navyen_US
dc.description.urihttp://archive.org/details/preciselocalizat1094563501
dc.identifier.thesisid32193
dc.identifier.urihttps://hdl.handle.net/10945/63501
dc.publisherMonterey, CA; Naval Postgraduate Schoolen_US
dc.rightsThis 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.en_US
dc.subject.authorautonomyen_US
dc.subject.authorautonomous systemsen_US
dc.subject.authorlocalizationen_US
dc.subject.authorultra widebanden_US
dc.subject.authorradio frequencyen_US
dc.subject.authoroptoelectronic motion captureen_US
dc.subject.authorunmanned systemsen_US
dc.subject.authorroboten_US
dc.subject.authorordnance handlingen_US
dc.subject.authorlane followingen_US
dc.subject.authorfeature based computer visionen_US
dc.subject.authorROSen_US
dc.subject.authorrobotic operating systemen_US
dc.titlePRECISE LOCALIZATION TO SUPPORT AUTONOMOUS SHIP-SCALE OPERATIONSen_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameMaster of Science in Mechanical Engineeringen_US
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