Towards a robust slam framework for resilient AUV navigation

dc.contributor.advisorChermak, Lounis P
dc.contributor.advisorLe Caillec, Jean-Marc
dc.contributor.advisorRichardson, Marrk
dc.contributor.authorIssartel, Mathieu
dc.date.accessioned2024-01-03T10:46:41Z
dc.date.available2024-01-03T10:46:41Z
dc.date.issued2021-03
dc.description.abstractAutonomous Underwater Vehicles (AUVs) are playing an increasing part in modern navies, to the point that the control of oceans will soon be decided by their strategic use. In face of more complex missions occurring in potentially hostile environments, the resilience of such systems becomes critical. In this study, we investigate the following scenario: how does a lone AUV could recover from a temporary breakdown that has created a gap in its measurements, while remaining beneath the surface to avoid detection? It is assumed that the AUV is equipped with an active sonar and is operating in an uncharted area. The vehicle has to rely on itself by recovering its location using a Simultaneous Localization and Mapping (SLAM) algorithm. While SLAM is widely investigated and developed in the case of aerial and terrestrial robotics, the nature of the poorly structured underwater environment dramatically challenges its effectiveness. To address such a complex problem, the usual side scan sonar data association techniques are investigated under a global registration problem while applying robust graph SLAM modelling. In particular, ways to improve the global detection of features from sonar mosaic region patches that react well to the MICR similarity measure are discussed. The main contribution of this study is centered on a novel data processing framework that is able to generate different graph topologies using robust SLAM techniques. One of its advantages is to facilitate the testing of different modelling hypotheses to tackle the data gap following the temporary breakdown and make the most of the limited available information. Several research perspectives related to this framework are discussed. Notably, the possibility to further extend the proposed framework to heterogeneous datasets and the opportunity to accelerate the recovery process by inferring information about the breakdown using machine learning.en_UK
dc.description.coursenamePHDen_UK
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20592
dc.language.isoenen_UK
dc.publisherCranfield Universityen_UK
dc.publisher.departmentCDSen_UK
dc.rights© Cranfield University 2021. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright owneren_UK
dc.rights.embargodate2024-01-03
dc.subjectAutonomous Underwater Vehiclesen_UK
dc.titleTowards a robust slam framework for resilient AUV navigationen_UK
dc.typeThesis or dissertationen_UK
dc.type.qualificationlevelDoctoralen_UK
dc.type.qualificationnamePhDen_UK

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