Machine learning based path replanning

Development of machine learning based in-situ path coverage replanning and control algorithm for an AUV to carry our underwater survey missions using sonar and navigational sensors

Degree type

PhD

Closing date

6 March 2023

Campus

Launceston

Citizenship requirement

Domestic/International

About the research project

The applications of AUVs are wider and wider in terms of depth range and dynamic environments, especially under-ice missions, thus require increased autonomy and smart replanning and control algorithms. This project involves developing machine learning based algorithms for complete coverage and path replanning and control of AUVs with numerical simulation and field experiments. Current trend does not show that many intelligent replanning and control algorithms could be verified and validated on real-world AUVs under dynamic changing / challenging underwater environments, especially the effects of unmeasurable ocean currents and in-observable underwater obstacles. The proposed project will focus on the online path replanning and control of the AUV. The proposed algorithm once having been formulated and verified by the numerical solution will be verified and validated onboard a real-world AUV available at AMC.

The main purpose is to solve the problem of online/real-time/in-situ implementation of complete coverage path planning/replanning and trajectory tracking control of AUVs due to the changing environments such as ocean currents and obstacles existing in the transects and regional of interest of mission as well as noisy measurement data from sensors. The target is to formulate the proposed algorithm, and then verify and validate it by both numerical simulation and field experiments using an available real-world AUV under real-world changing environment. The novelty contributions of the project will be depending on the selected method with improved computing algorithms and further developed components in comparison with those in the literature.

Primary Supervisor

Meet Dr Hung Nguyen

Funding

Applicants will be considered for a Research Training Program (RTP) scholarship or Tasmania Graduate Research Scholarship (TGRS) which, if successful, provides:

  • a living allowance stipend of $28,854 per annum (2022 rate, indexed annually) for 3.5 years
  • a relocation allowance of up to $2,000
  • a tuition fees offset covering the cost of tuition fees for up to four years (domestic applicants only)

If successful, international applicants will receive a University of Tasmania Fees Offset for up to four years.

As part of the application process you may indicate if you do not wish to be considered for scholarship funding.

Eligibility

Applicants should review the Higher Degree by Research minimum entry requirements.

Additional eligibility criteria specific to this project/scholarship:

Applicants must be able to undertake the project on-campus

Selection Criteria

The project is competitively assessed and awarded.  Selection is based on academic merit and suitability to the project as determined by the College.

Additional essential selection criteria specific to this project:

  • Understanding of guidance navigation and control of a marine vehicle (underwater vehicle)
  • Experience in programming, especially real-time programming, with various languages such as MATLAB/Simulink, C/C++/C#, Python

Additional desirable selection criteria specific to this project:

  • Understanding of marine vehicle hydrodynamics/dynamics
  • Prior knowledge and skills as well as experience in control, instrumentation and electrical/electronic engineering

Application process

There is a three-step application process:

  1. Select your project, and check you meet the eligibility and selection criteria;
  2. Contact the Primary Supervisor, Dr Hung Nguyen to discuss your suitability and the project's requirements; and
  3. Submit an application by the closing date listed above.
    • Copy and paste the title of the project from this advertisement into your application. If you don’t correctly do this your application may be rejected.
    • As part of your application, you will be required to submit a covering letter, a CV including 2 x referees and your project research proposal.

Following the application closing date applications will be assessed within the College. Applicants should expect to receive notification of the outcome by email by the advertised outcome date.

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