*********************************
There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
*********************************
Title: Path Planning for Underwater Vehicle in Ocean Flow Field
Committee:
Dr. F. Zhang, Advisor
Dr. Edwards, Co-Advisor
Dr. Zhao, Chair
Dr. Zhou
Abstract: The objective of the proposed research is solving the underwater vehicle navigation problem as an instance of the partially observable stochastic optimal control problem. We aim to propose a novel partition-based belief abstraction and symbolic planning method to solve the problem, and theoretically justify the performance of the proposed method, that is, the belief abstraction model results in bounded model reduction error. In addition, the belief abstraction method and replanning scheme guarantee finding a feasible solution to the stochastic optimal control problem. The novel belief abstraction method does not suffer from the curse of dimensionality. Also, performance of the algorithm does not degrade at the presence of nonlinear dynamics and non-Gaussian uncertainty.
