Master Thesis, 30 HP: Path Planning Optimization for Navigation of an Underwater Vehicle Utilizing Bottom Terrain Positioning

Are you a student eager to apply your theoretical knowledge and fresh perspectives to real-world challenges? At Saab, we believe that innovation thrives on new ideas, and your master thesis project could be the spark that ignites our next technological breakthrough.

Your Role

The underwater domain presents unique challenges and is a core interest of Saab for state-of-the-art solutions. We are looking for one or two students to implement a path planning optimization algorithm that maximizes the terrain information gathered while minimizing deviation from a main path.

We recognize the immense value that students bring to our company. Your academic rigor, combined with your enthusiasm for cutting-edge technology, allows you to approach problems with a unique and insightful lens. At Saab, you'll have the opportunity to collaborate with experienced engineers and specialists, gaining invaluable practical experience while making a tangible contribution to our growth and development.

Background

In recent years, the defense of critical underwater infrastructure has been gaining attention, with a subsequent, ever-increasing interest in industry to provide the best solutions. Saab has a large number of underwater vehicles, be it AUVs (Autonomous Underwater Vehicles) or ROVs (Remotely Operated Vehicles), and to stay ahead of the competition the need for research and development is critical. Guidance, navigation and control of these vehicles is necessary, but demanding, presenting wide possibilities for improvements.

With limited to no outside information available to the vehicle the inertial navigation system is a core functionality. For longer missions durations however, drift in the IMU-measurements start to become a real problem. One solution is to use a TPS (Terrain Positioning System) that compares sea bottom terrain to a height map that gives a global and time invariant position estimate to compensate for the IMU-drift. The vehicles pathing thus plays a huge role in the quality of the position estimates as it should pass over segments with large height variations. This thesis aims to implement an optimal path planning algorithm to gather as much information for the TPS as possible while still minimizing travel distance to landmarks of interest. This thesis also aims to analyze theoretical metrics such as the comparative performance of the navigation when using the optimal path planner and the shortest distance planner.

Description of the master thesis

The Main goal of this thesis is to define the optimization problem, develop a path planner that solves this problem and analyze the navigation performance compared to the classic shortest path planner. Some additional goals would be to calculate the theoretically lowest uncertainty of the position estimate and a performance metric of information available in a given height map. Some areas for further investigation would be the impact of map resolution, sensor types and robustness/sensitivity.

This thesis will be conducted in a simulated environment. The objective is to deliver a code repository with the implementation of the path planning algorithm and a report that documents the work and results.

The general outline of the thesis is to first do a comprehensive literature study on TPS for underwater applications, optimization and path planning. Following the literature study, the next step is to setup the simulation and development environment and implement one or more TPS algorithms. Lastly, the optimization problem should be defined, solvers chosen and performance metrics decided.

The simulations could for example be done in Unity while analyzes might be easier in Matlab. As such, experience with these tools is advantageous, as well as knowledge about programming in Matlab, C# and C/C++. Other experiences could also be useful depending on choice of implementation.

The proposed thesis is divided into the following tasks:

• Conduct a thorough literature review
• Setup simulation and development environments
• Implement basic navigation and one or more TPS algorithms
• Define optimization problem, solvers and performance metrics
• Develop, implement and analyze results from simulations and provide ideas for future work

Your Profile

The suggested work is suitable for one or two students with an interest in sensor fusion, programming and mathematics. You are at the end of your education in engineering physics, applied mathematics, statistics or any other related field and about to start your Master Thesis work for 30 HP. Knowledge in Matlab, C#, C/C++ is considered an advantage.

Kindly observe that this is an ongoing recruitment process and that the position might be filled before the closing date of the advertisement.

This position requires that you pass a security vetting based on the current regulations around/of security protection. For positions requiring security clearance additional obligations on citizenship may apply.

What You Will Be A Part Of

Explore a wealth of possibilities. Take on challenges, create smart inventions, and grow beyond. This is a place for curious minds, brave pioneers, and everyone in between. Together, we achieve the extraordinary, each bringing our unique perspectives. Your part matters.

Saab is a leading defence and security company with an enduring mission, to help nations keep their people and society safe. Empowered by its 26,000 talented people, Saab constantly pushes the boundaries of technology to create a safer and more sustainable world.

Saab designs, manufactures and maintains advanced systems in aeronautics, weapons, command and control, sensors and underwater systems. Saab is headquartered in Sweden. It has major operations all over the world and is part of the domestic defence capability of several nations. Read more about us here

Last Application Day

24-11-2025.

Contact Information

Marina Rantanen Modéer, Manager

+46 734 1818 35

Marina.Rantanenmodeer@Saabgroup.Com

Oscar Hermansson, Master’s Thesis Supervisor

+46 734 1889 53

Oscar.Hermansson@Saabgroup.Com