Sangam: A Confluence of Knowledge Streams

A mine search algorithm for the Naval Postgraduate School Autonomous Underwater Vehicle

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dc.contributor Bradley, Gordon H.
dc.contributor McGhee, Robert B.
dc.contributor Eagle, James N.
dc.contributor Operations Research
dc.contributor Computer Science
dc.creator Rodrigues Neto, Jose Augusto
dc.date December, 1994
dc.date 2013-04-11T21:53:27Z
dc.date 2013-04-11T21:53:27Z
dc.date 1994-12
dc.date.accessioned 2022-05-19T07:37:21Z
dc.date.available 2022-05-19T07:37:21Z
dc.identifier http://hdl.handle.net/10945/30542
dc.identifier.uri http://localhost:8080/xmlui/handle/CUHPOERS/100086
dc.description This 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.
dc.description http://archive.org/details/aminesearchlgori1094530542
dc.description Brazilian Navy author.
dc.description Approved for public release; distribution is unlimited.
dc.format 88 p.;28 cm.
dc.format application/pdf
dc.language en_US
dc.publisher Monterey, California. Naval Postgraduate School
dc.rights Copyright is reserved by the copyright owner.
dc.subject Autonomous vehicle
dc.subject mapping
dc.subject mine
dc.subject mine search
dc.subject obstacle avoidance
dc.subject robot
dc.title A mine search algorithm for the Naval Postgraduate School Autonomous Underwater Vehicle
dc.type Thesis


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