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dc.contributor.advisorBradley, Gordon H.
dc.contributor.advisorMcGhee, Robert B.
dc.contributor.authorRodrigues Neto, Jose Augusto
dc.dateDecember, 1994
dc.date.accessioned2013-04-11T21:53:27Z
dc.date.available2013-04-11T21:53:27Z
dc.date.issued1994-12
dc.identifier.urihttp://hdl.handle.net/10945/30542
dc.descriptionApproved for public release; distribution unlimited.en_US
dc.description.abstractThis thesis develops, implements and tests a mine search algorithm for the Naval Postgraduate School Autonomous Underwater Vehicle (Phoenix). The vehicle is 72 inches long and displaces 400 pounds. Its maneuvers are performed using two propellers and four thrustem. It contains two embedded computer systems. The algorithm directs the autonomous search of a specified area mapping all obstacles and computing an estimate of the cumulative probability of detection. The algorithm uses no prior knowledge of the terrain or the location of mines. The algorithm, which is written in Lisp, can execute on the vehicle's computer systems. Along with the search and mapping capabilities, the algorithm executes obstacle avoidance. The algorithm is tested in several simulated scenarios with different placement of mines and obstacles; the amount of resources used and the fraction of the area searched is computed. A similar algorithm that uses hill-climbing search is implemented for comparison. In all cases, the newly developed algorithm performed equal or better than the one that uses hill-climbing.en_US
dc.format.extent88 p.;28 cm.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsCopyright is reserved by the copyright owner.en_US
dc.titleA mine search algorithm for the Naval Postgraduate School Autonomous Underwater Vehicleen_US
dc.typeThesisen_US
dc.contributor.secondreaderEagle, James N.
dc.contributor.departmentOperations Research
dc.contributor.departmentComputer Science
dc.subject.authorAutonomous vehicleen_US
dc.subject.authormappingen_US
dc.subject.authormineen_US
dc.subject.authormine searchen_US
dc.subject.authorobstacle avoidanceen_US
dc.subject.authorroboten_US
dc.description.serviceBrazilian Navy author.en_US
etd.thesisdegree.nameM.S. in Operations Researchen_US
etd.thesisdegree.nameM.S. in Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineOperations Researchen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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