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dc.contributor.authorChowdhary, Abhilashen_US
dc.date.accessioned2017-06-29T08:00:48Z
dc.date.available2017-06-29T08:00:48Z
dc.date.issued2017-06-28en_US
dc.identifier.othervt_gsexam:12220en_US
dc.identifier.urihttp://hdl.handle.net/10919/78278
dc.description.abstractNavigation of autonomous underwater vehicles (AUVs) in the subsea environment is particularly challenging due to the unavailability of GPS because of rapid attenuation of electromagnetic waves in water. As a result, the AUV requires alternative methods for position estimation. This thesis describes a terrain-aided navigation approach for an AUV where, with the help of a prior depth map, the AUV localizes itself using altitude measurements from a multibeam DVL. The AUV simultaneously builds a probabilistic depth map of the seafloor as it moves to unmapped locations. The main contribution of this thesis is a new, scalable, and on-line terrain-aided navigation solution for AUVs which does not require the assistance of a support surface vessel. Simulation results on synthetic data and experimental results from AUV field trials in Panama City, Florida are also presented.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis item is protected by copyright and/or related rights. Some uses of this item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectAutonomous Underwater Vehiclesen_US
dc.subjectNavigationen_US
dc.subjectGaussian Processesen_US
dc.titleTerrain Aided Navigation for Autonomous Underwater Vehicles with Local Gaussian Processesen_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineComputer Engineeringen_US
dc.contributor.committeechairStilwell, Daniel J.en_US
dc.contributor.committeememberWilliams, Ryan K.en_US
dc.contributor.committeememberTokekar, Pratapen_US


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