Date of Award
Summer 7-24-2026
Document Type
Thesis
Publication Status
Version of Record
Submission Date
August 2026
Department
Ocean and Mechanical Engineering
College Granting Degree
College of Engineering and Computer Science
Department Granting Degree
Ocean and Mechanical Engineering
Degree Name
Master of Science (MS)
Thesis/Dissertation Advisor [Chair]
Manhar Dhanak
Abstract
The objective of this thesis was to collect and analyze magnetic field data in the vicinity of the Mercy, Tracey, and Jay Scutti with an autonomous underwater vehicle (AUV) and a forward mounted magnetometer. The collected data was used to develop geomagnetic contour maps and magnetic thresholds of known anomalies to compare the results with validated sources such as NOAA.
In addition, this collected data was used to develop a Gazebo simulation which accurately modeled the magnetic field data and ocean effects of the Fort Lauderdale Shipwreck Trail. This Gazebo simulation allowed for proper testing and refinement of object avoidance with an underwater autonomous vehicle that related to proper plug-ins used by the REMUS 100’s RECON system. Although this research and simulation are modeled off the Fort Lauderdale Shipwreck Trail, the methods and techniques used for object avoidance based on magnetic readings can be used anywhere in the world.
Recommended Citation
Benavidez, Eric, "OBJECT AVOIDANCE ONBOARD AN AUTONOMOUS UNDERWATER VEHICLE IN SUPPORT OF GEOMAGNETIC BASED NAVIGATION SYSTEM" (2026). Electronic Theses and Dissertations. 376.
https://digitalcommons.fau.edu/etd_general/376