Welcome To UTPedia

We would like to introduce you, the new knowledge repository product called UTPedia. The UTP Electronic and Digital Intellectual Asset. It stores digitized version of thesis, final year project reports and past year examination questions.

Browse content of UTPedia using Year, Subject, Department and Author and Search for required document using Searching facilities included in UTPedia. UTPedia with full text are accessible for all registered users, whereas only the physical information and metadata can be retrieved by public users. UTPedia collaborating and connecting peoples with university’s intellectual works from anywhere.

Disclaimer - Universiti Teknologi PETRONAS shall not be liable for any loss or damage caused by the usage of any information obtained from this web site.Best viewed using Mozilla Firefox 3 or IE 7 with resolution 1024 x 768.

Obstacle Avoidance System in Underwater Glider

KHYE YEE, YONG (2017) Obstacle Avoidance System in Underwater Glider. IRC, Universiti Teknologi PETRONAS.

[img] PDF
Restricted to Registered users only

Download (1407Kb)


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.

Item Type: Final Year Project
Academic Subject : Academic Department - Mechanical Engineering - Materials - Engineering materials - Metals alloys - Fabrication
Subject: T Technology > TJ Mechanical engineering and machinery
Divisions: Engineering > Mechanical
Depositing User: Ahmad Suhairi Mohamed Lazim
Date Deposited: 01 Aug 2018 09:53
Last Modified: 01 Aug 2018 09:53
URI: http://utpedia.utp.edu.my/id/eprint/17964

Actions (login required)

View Item View Item

Document Downloads

More statistics for this item...