Thesis etd-06122023-181532 | |
Thesis type
Tesi di dottorato di ricerca
Thesis title
Visual-based solutions for an effective use of Autonomous Underwater Vehicles in environmental monitoring applications
Academic discipline
ING-INF/04 - AUTOMATICA
Course of study
SMART INDUSTRY
Keywords
- autonomous underwater vehicles
- boundary inspection
- environmental monitoring
- posidonia oceanica
- visual odometry
Graduation session start date
15/06/2023
Abstract (Italiano)
The strategies developed in the work of this thesis can be divided into two topics: underwater navigation and decision-making based on environmental information. The first part of the thesis deals with navigation over P. oceanica meadows and describes the two different visual-based navigation solutions. The second part of the thesis concerns the autonomous boundary inspection of P. oceanica meadows, and in particular the modules that form the proposed visual inspection framework. The validation of the proposed methodologies has been performed through realistic simulations and experimental data collected at sea using an underwater robot.
