Blar i NTNU Open på forfatter "Fossen, Thor Inge"
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A Modular Software and Hardware Framework with Application to Unmanned Autonomous Systems: Interacting Modules, Error Detection and Hardware Design
Skøien, Kristoffer Rist (Master thesis, 2011)The Department of Engineering Cybernetics at the Norwegian University of Science andTechnology established the Unmanned Vehicle Laboratory fall 2010. The goal is to havestudents develop a fully functional autonomous aerial ... -
A Vision-Aided Navigation System based on Optical Flow
Hosen, Jesper (Master thesis, 2015)This thesis presents design and comparison of a vision-aided uniformly semi-globally exponentially stable (USGES) nonlinear observer (NO) and a Multiplicative Extended Kalman Filter (MEKF) for estimation of attitude, gyro ... -
Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV
Grindheim, Vegard (Master thesis, 2015)Improved possibilities for transport, as a consequence of diminishing ice mass in the Arctic, leads to more activity in these areas. Some of the greatest dangers of heightened presence in the Arctic is associated with sea ... -
Aided Inertial Navigation of Underwater Vehicles
Stovner, Bård Nagy (Doctoral theses at NTNU;2018:96, Doctoral thesis, 2018)This thesis is motivated by cost reduction in subsea inspection, maintenance, and repair operations, which requires autonomy and automatic functionality in order to save time and money. Autonomy and automatic functions ... -
Air Data Estimation for Small Unmanned Aircraft
Borup, Kasper Trolle (Doctoral theses at NTNU;2018:297, Doctoral thesis, 2018)The use of small fixed-wing unmanned aerial vehicles has shown an explosive growth in recent years and this thesis is motivated by the need for low-cost, accurate air data estimators for these aircraft. The air data contains ... -
Almost Global Three-Dimensional Path-Following Guidance Law for Arbitrary Curved Paths
Coates, Erlend Magnus Lervik; Hamel, Tarek; Fossen, Thor Inge (Peer reviewed; Journal article, 2023)Motivated by aircraft applications, we revisit the path-following guidance problem in three dimensions. First, by formulating the path-following error directly in the inertial frame, we propose a class of guidance laws for ... -
An Amplitude-Phase Representation of the North-East-Down Kinematic Differential Equations
Fossen, Thor Inge (Peer reviewed; Journal article, 2023)The overall goal of the paper is to derive a kinematic model for vehicle path-following systems, where the pitch and yaw angles (θ,ψ) together with the surge velocity u can be treated as control inputs. Then the outer ... -
Analysis of Drifting for a Remotely Controlled Car
Ellefsen, Stian (Master thesis, 2012)AbstractBy restricting a vehicle to the linear region of operation, with a small sideslip angle, a vehiclecannot achieve its full potential. By entering the nonlinear region of operation tightercorners can be achieved and ... -
Anti-Collision System for Multi-Rotor Drones Operating Close to Obstacles using Radar Data
Koren, Thomas Frimann (Master thesis, 2017)This thesis concerns the development of a radar-based collision avoidance system for multirotor vehicles. The first chapter is a small introduction to radar systems, to aid in understanding the rest of this thesis. Further ... -
Attitude Controller-Observer Design for the NTNU Test Satellite
Alvenes, Fredrik (Master thesis, 2013)This report presents the results from the development and design of an Attitude Controller-Observer for the NTNU Test Satellite (NUTS). It gives an insight to mathematical modeling of satellite attitude dynamics for 3 ... -
Automatic Ship Landing System for Fixed-Wing UAV
Frølich, Marcus (Master thesis, 2015)This thesis presents the system design of an automatic ship landing system for a fixed-wing unmanned aerial vehicle UAV) intended to land in a net. It involves path planning, guidance and control, accurate navigation and ... -
Autonomous Landing of Fixed-Wing UAV in a Stationary Net - Path and Navigation System
Sørbø, Kjetil Hope (Master thesis, 2016)This thesis present a path and navigation system, used in a autonomous net landing system for a fixed wing Unmanned Aerial Vehicle (UAV). A landing path of a UAV can be constructed as a straight line path, but in order for ... -
Autonomous landing of Fixed-Wing UAV in net suspended by Multirotor UAVs - A Multirotor recovery system
Moe, Jostein Borgen (Master thesis, 2016)This thesis considers the recovery of a fixed-wing Unmanned Aerial Vehicle (UAV) in a net suspended by multirotor UAVs. Motivated by marine fixed-wing UAV operations from ships, where limited landing space and harsh weather ... -
Autopilot Design for Unmanned Aerial Vehicles
Johansen, Ingrid Hagen (Master thesis, 2012)This thesis will present a design of a guidance and control system to use on aircrafts, primarily on UAVs. One control method for heading control and two for pitch and altitude control will be investigated. The control ... -
Bølgekompensering under boring med RamRig: Modellering og regulering
Aurlien, Yngvild (Master thesis, 2007)Sammendrag: Hivkompensering kan deles inn i passiv, aktiv og semiaktiv kompensering utifra i hvilken grad det benyttes et aktivt pådrag for å kompensere for hivet. Hivkompenserig kan gjøres på forskjellige måter. Toppmontert ... -
Camera-aided Inertial Navigation for Unmanned Aerial Vehicles using Non-linear Observers
Fusini, Lorenzo (Doctoral theses at NTNU;2017:225, Doctoral thesis, 2017)The objective of this thesis is to investigate solutions for a robust autonomous navigation system for a fixed-wing UAV. Robustness requires the ability to detect faults in the system and to compensate for the consequent ... -
Collision Avoidance Algorithms for Unmanned Surface Vehicle-Based Formation Control Applications
Vintervold, Vetle Stokke (Master thesis, 2010)This thesis is the result of work focusing on collision avoidance in connection with formation control for unmanned surface vehicles (USVs) using coordinated target tracking. Especially utilization of such vessels in marine ... -
Collision-Free Path Planning for Unmanned Surface Vehicles
Nord, Per (Master thesis, 2010)At the basis of autonomous behavior of moving vehicles lies the path planning system. How should the vehicle move to get from its initial position to its destination, and do so without harming itself and its surroundings ... -
Control Strategy for AHC Offshore Crane Systems
Steinsland, Solveig (Master thesis, 2016)This master's thesis presents a mathematical model of MacGregor`s AHC offshore crane and examines control strategies for the crane system. This crane is placed on ships and is designed for safe and accurate offshore and ... -
Cooperative Behavioural Control for Omni-Wheeled Robots: Experiments and simulations for formation control with obstacle- and collision avoidance
Klausen, Kristian (Master thesis, 2013)This thesis considers the formation and behavioural control problem of a multirobotsystem. A mathematical model of the mobile vehicles are presented, followedby an introduction to behavioural control. The Null-Space based ...