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Obstacle Avoidance System in Underwater Glider

Obstacle avoidance system in an underwater glider is important for autonomous vehicle. Path planning is one of the main part of an obstacle avoidance system. There are a number of path planning algorithm present for ground robots. Different path planning algorithm have different working mechanism an...

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Bibliographic Details
Main Author: KHYE YEE, YONG
Format: Final Year Project
Language:English
Published: IRC 2017
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://utpedia.utp.edu.my/17964/1/FYP_Dissertation_KhyeYee.pdf
http://utpedia.utp.edu.my/17964/
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spelling my-utp-utpedia.179642018-08-01T09:53:21Z http://utpedia.utp.edu.my/17964/ Obstacle Avoidance System in Underwater Glider KHYE YEE, YONG TJ Mechanical engineering and machinery Obstacle avoidance system in an underwater glider is important for autonomous vehicle. Path planning is one of the main part of an obstacle avoidance system. There are a number of path planning algorithm present for ground robots. Different path planning algorithm have different working mechanism and required information. Thus, the performance and efficiency of each algorithm will be different depending on the environment and type of obstacles. While Bug algorithm is had been used in underwater vehicles, A* algorithm are more commonly used in ground robots. It is unknown how would A* algorithm perform compare to Bug algorithm for underwater glider. This thesis aims to assess the efficiency between two algorithm of A* algorithm and Bug Algorithm. The two path planning algorithm will be simulated in Matlab with random generated point obstacles between starting point and ending point. It is found that the A* algorithm have better path cost but requires higher computational power. Bug algorithm are the better choice for obstacle avoidance of underwater glider for shorter computational time and reasonable path cost between the two. IRC 2017-01 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/17964/1/FYP_Dissertation_KhyeYee.pdf KHYE YEE, YONG (2017) Obstacle Avoidance System in Underwater Glider. IRC, Universiti Teknologi PETRONAS.
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Electronic and Digitized Intellectual Asset
url_provider http://utpedia.utp.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
KHYE YEE, YONG
Obstacle Avoidance System in Underwater Glider
description Obstacle avoidance system in an underwater glider is important for autonomous vehicle. Path planning is one of the main part of an obstacle avoidance system. There are a number of path planning algorithm present for ground robots. Different path planning algorithm have different working mechanism and required information. Thus, the performance and efficiency of each algorithm will be different depending on the environment and type of obstacles. While Bug algorithm is had been used in underwater vehicles, A* algorithm are more commonly used in ground robots. It is unknown how would A* algorithm perform compare to Bug algorithm for underwater glider. This thesis aims to assess the efficiency between two algorithm of A* algorithm and Bug Algorithm. The two path planning algorithm will be simulated in Matlab with random generated point obstacles between starting point and ending point. It is found that the A* algorithm have better path cost but requires higher computational power. Bug algorithm are the better choice for obstacle avoidance of underwater glider for shorter computational time and reasonable path cost between the two.
format Final Year Project
author KHYE YEE, YONG
author_facet KHYE YEE, YONG
author_sort KHYE YEE, YONG
title Obstacle Avoidance System in Underwater Glider
title_short Obstacle Avoidance System in Underwater Glider
title_full Obstacle Avoidance System in Underwater Glider
title_fullStr Obstacle Avoidance System in Underwater Glider
title_full_unstemmed Obstacle Avoidance System in Underwater Glider
title_sort obstacle avoidance system in underwater glider
publisher IRC
publishDate 2017
url http://utpedia.utp.edu.my/17964/1/FYP_Dissertation_KhyeYee.pdf
http://utpedia.utp.edu.my/17964/
_version_ 1739832443655946240
score 13.211869

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