Blar i NTNU Open på forfatter "Breivik, Morten"
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A 3DOF Path-Following Controller for a Non-Directionally Stable Vessel with Slow Thruster Dynamics
Thyri, Emil Hjelseth; Bitar, Glenn Ivan; Breivik, Morten (Peer reviewed; Journal article, 2021)In this paper, a 3DOF path-following controller for an electric double-ended passenger ferry prototype is presented. The controller is formulated through a 3-step backstepping approach, taking into consideration several ... -
A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints
Sørensen, Mikkel Nørgaard; Lyngstadaas, Ole Nikolai; Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article, 2018)This paper considers the use of a simplified dynamic window (DW) algorithm to handle actuator magnitude constraints for a 3 degrees-of-freedom dynamic positioning controller for ships. To accomplish this, we use the ... -
A Model-Based Speed and Course Controller for High-Speed ASVs
Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article; Peer reviewed, 2018)Well-performing low-level vessel controllers are a necessity for marine motion control applications such as path following, trajectory tracking and collision avoidance for autonomous surface vehicles (ASVs). Designing such ... -
A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs
Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin (Chapter; Peer reviewed, 2016)Much research has been done on the subject of collision avoidance (COLAV). However, few results are presented that consider vehicles with second-order nonholonomic constraints, such as autonomous underwater vehicles (AUVs). ... -
A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries
Thyri, Emil Hjelseth (Master thesis, 2019)Under utviklingen av autonome systemer, som for eksempel autonome passasjerferger, er det to kritiske sub-systemer som må være på plass for at systemet ikke bare skal være automatisert. Det første er et situasjonsforståe ... -
A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Eriksen, Bjørn-Olav Holtung (Chapter; Peer reviewed, 2017)Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ... -
AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus
Skjetne, Roger; Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Værnø, Svenn Are Tutturen; Brodtkorb, Astrid H.; Sørensen, Asgeir Johan; Kjerstad, Øivind Kåre; Calabrò, Vincenzo; Vinje, Bjørn Ole (Chapter; Peer reviewed, 2017)In order to validate relevant dynamic positioning (DP) control algorithms in a realistic environment, a full-scale DP test campaign, the AMOS DP Research Cruise 2016 (ADPRC’16), was organized in a collaboration between the ... -
An Area-Time Trajectory Planning Approach to Collision Avoidance for Confined-Water Vessels
Berget, Herman (Master thesis, 2021)Denne masteroppgaven presenterer en baneplannleggingsmetode for Collision Avoidance (COLAV) for en Autonomous Surface Vehicle (ASV) i trange farvann og med andre fartøy i nærheten. Metoden baserer seg på å representere ... -
Automated Docking for Marine Surface Vessels - A Survey
Lexau, Simon Julian Nagelsaker; Breivik, Morten; Lekkas, Anastasios (Peer reviewed; Journal article, 2023)Research on motion control systems for marine surface vessels has generated a vast academic literature and many industrial applications since the early 20th century. The recent focus on autonomous ships has sparked intensive ... -
Automatic and practical route planning for ships
Vestad, Vegard Nitter (Master thesis, 2019)Hvis et skip skal seile fra en lokasjon til en annen, er en rute vanligvis laget av en erfaren navigatør, selv om automatiske ruteplanleggere allerede eksisterer. Årsaken til at mange automatiske ruteplanleggere er ... -
Automatic model identification of high-speed autonomous surface vehicles
Kvalvaag, Torstein Myrene (Master thesis, 2018)This thesis investigates a method for identication of a non-first principle control-oriented model for autonomous surface vehicles (ASVs) suggested in [7]. The goal is to develop an automatic substitute for the identification ... -
Autotuned Dynamic Positioning for Marine Surface Vessels
Alme, Jon (Master thesis, 2008)Dynamic positioning of surface vessels involves control of vessels with changing dynamics, shifting conditions, for different operational tasks. A controller with fixed controller parameters cannot have an optimal performance ... -
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 avoidance and motion control for autonomous surface vehicles
Eriksen, Bjørn-Olav Holtung (Doctoral theses at NTNU;2019:230, Doctoral thesis, 2019)This thesis presents topics related to collision avoidance (COLAV) and motion control for autonomous surface vehicles (ASVs). The thesis contains a collection of nine publications, of which six are peer-reviewed conference ... -
Collision avoidance for ASVs through trajectory planning: MPC with COLREGs-compliant nonlinear constraints
Thyri, Emil Hjelseth; Breivik, Morten (Peer reviewed; Journal article, 2022)This article presents a trajectory planning method for autonomous surface vessels that is compliant with Rule 8 and rules 13-17 from the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). ... -
Collision Avoidance for Unmanned Surface Vehicles
Loe, Øivind Aleksander G. (Master thesis, 2008)Considerable progress has been achieved in recent years with respect to autonomous vehicles. A good example is the DARPA Grand Challenge, a competition for autonomous ground vehicles. None of the competing vehicles managed ... -
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 ... -
COLREGs-aware and MPC-based trajectory planning and collision avoidance for autonomous surface vessels
Hestvik, Erlend (Master thesis, 2022)Et fullt autonomt sjøfartøy må ha både baneplanlegging og kollisjonsungåelse systemer. Egenskapen til å følge et referansespor med tids- og andre effektivitetbegrensninger er helt essensielt for å ha et brukbart autonomt ... -
COLREGs-aware automatic docking for autonomous surface vessels
Nordhus, Henrik Rohde (Master thesis, 2023)I en æra hvor autonome systemer i økende grad former industrier og hverdagsliv, har området for maritim navigasjon opplevd en betydelig transformasjon. Denne masteroppgaven viser fremskrittene som er gjort i dokkingsprosedyrer, ... -
COLREGs-Aware Collision Avoidance for Autonomous Surface Vehicles using Encounter-Specific Artificial Potential Fields
Kirkerud, Ola Johan Olimb (Master thesis, 2022)Det er mange ulike nivåer av autonomi, hvor full autonomi er det absolutt mest krevende nivået å produsere. Full autonomi krever et system som er uavhengig av menneskelig interaksjon. For å oppnå dette for et autonomt ...