University of Twente Student Theses


Robotics for unmanned underwater vehicle for investigation of coral

Mruma, Daniel Petro (2012) Robotics for unmanned underwater vehicle for investigation of coral.

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Abstract:Status of coral is changing due to disturbances in marine ecosystem by climate change, fishing activities and creation of beaches along the coastal areas. Probabilistic robotics using unmanned underwater vehicle can be the most promising method for collecting maximum information about the status of coral reef. Digitized map of coral around Klein Bonaire of 1985 and recent high resolution satellite images (4meter) of 2011 were integrated to give a priori information about current location, extent and distribution of coral reef. To develop and optimize routing for UUV based on robotics technology for acquiring maximum information about coral, we started by designing a straight forward trajectory for entire integrated layer from which the zigzag SLAM technique for optimal route was then proposed and evaluated for investigation in large and complex area with a given set of specification from start point to the target. The proposed zigzag SLAM technique shows that, a UUV can collect enough information for investigation purposes in underwater environment.
Item Type:Essay (Master)
Faculty:ITC: Faculty of Geo-information Science and Earth Observation
Programme:Geoinformation Science and Earth Observation MSc (75014)
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