Now showing items 41-60 of 67

    • Motion Planning Algorithms for Marine Vehicles 

      Hvamb, Knut (Master thesis, 2015)
      In this Master's thesis some of the most popular techniques in the motion-planning field are implemented in two-dimensional areas with obstacles. The Voronoi diagram method, the probabilistic roadmap method and the ...
    • MPC-Based mid-level collision avoidance for ASVs using nonlinear programming 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      In this paper, we present a mid-level collision avoidance algorithm for autonomous surface vehicles (ASVs) based on model predictive control (MPC) using nonlinear programming. The algorithm enables avoidance of both static ...
    • Nonlinear Adaptive Motion Control and Model-Error Analysis for Ships - Simulations and MCLab experiments 

      Bjørne, Elias S. (Master thesis, 2016)
      Havet er et upålitelig miljø fult av ulineariteter og forstyrrelser. Dette øker viktigheten av å ha en kontroller som kan håndtere den forandrende dynamikken til skipet for å oppnå førsteklasses styring. Et helhetlig ...
    • Nonlinear Adaptive Motion Controllers for Ships: Model-Scale Experiments in an Ocean Basin 

      Sæterdal, Tore Egil (Master thesis, 2018)
      This thesis investigates two different methods of adaptive control, namely L1 adaptive control and Immersion and Invariance adaptive control. The adaptive concepts is used to extend an existing cascaded non-linear feedback ...
    • Online Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Control 

      Lekkas, Anastasios M.; Roald, Ann Louise; Breivik, Morten (Journal article; Peer reviewed, 2016)
      This paper investigates the feasibility of using pseudospectral (PS) optimal control in real-time path planning for marine surface vehicles in environments where both obstacles and unknown disturbances are present. In ...
    • Optimization Based System Identification for the milliAmpere Ferry 

      Pedersen, Anders Aglen (Master thesis, 2019)
      I denne avhandlingen presenteres funnene av eksperimentelle tester og systemidentifikasjon av milliAmpere fergen. Fokuset i denne rapporten er å identifisere en skipsmodell med tre frihetsgrader som beskriver fergens ...
    • Path Planning and Guidance for Marine Surface Vessels 

      Dahl, Andreas Reason (Master thesis, 2013)
      Path planning and guidance for marine surface vesselsis the main topic of this thesis. The subject is of great relevance both for unmanned surface vehicles (USV) and for autopilot systems for manned vessels.A general ...
    • Path Planning for Vehicle Motion Control Using Numerical Optimization Methods 

      Roald, Ann Louise (Master thesis, 2015)
      Path planning is an important part of many systems, especially autonomous systems. Finding the optimal paths for various vehicles, given different optimization criteria such as the shortest, fastest, straightest or ...
    • Performance Comparison of Backstepping-Based Adaptive Controllers for Marine Surface Vessels 

      Sørensen, Mikkel Eske Nørgaard; Bjørne, Elias; Breivik, Morten (Chapter, 2016)
      This paper deals with the design and evaluation of three controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a ...
    • Performance Comparison of Controllers with Fault-Dependent Control Allocation for UAVs 

      Sørensen, Mikkel Eske Nørgaard; Hansen, Søren; Breivik, Morten; Blanke, Mogens (Journal article; Peer reviewed, 2017)
      This paper combines fault-dependent control allocation with three different control schemes to obtain fault tolerance in the longitudinal control of unmanned aerial vehicles. The paper shows that fault-dependent control ...
    • Planar Docking Algorithms for Underactuated Marine Vehicles 

      Loberg, Jon-Erik (Master thesis, 2010)
      The use of autonomously underwater vehicles (AUVs) has a great potential in scientific mission involving underwater exploration. However a major drawback with todays AUV missions is the launch and recovery process which ...
    • Prototype of HIL Test Platform for Autonomous USV - Simulation and Visualization of Vessel Surroundings 

      Børs-Lind, Kjetil Svae (Master thesis, 2017)
      This thesis considers the simulation and visualization of the maritime surroundings of unmanned surface vehicles (USVs) in a Hardware-In-the-Loop (HIL) simulator. The development of the simulator was conducted as two ...
    • Prototype of HIL Test Platform for Autonomous USV - Simulation of Vessel Dynamics 

      Ødegaard, Even (Master thesis, 2017)
      This thesis considers the modeling of vessel dynamics and implementation of a prototype Hardware-In-The-Loop (HIL) simulator for two autonomous unmanned surface vehicles (USVs) of different dimensions in 6 degrees of ...
    • Radar-based Maritime Collision Avoidance using Dynamic Window 

      Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten (Journal article; Peer reviewed, 2018)
      Collision avoidance systems are a key ingredient in developing autonomous surface vehicles (ASVs). Such systems require real-time information about the environment, which can be obtained from transponder-based systems or ...
    • Remote Control and Path Following for the ReVolt Model Ship 

      Havnegjerde, Albert (Master thesis, 2018)
      The guidance system of the 3 meter long ReVolt is expanded to include a 2-D path following system using the Line-of-Sight (LOS) guidance principle and lookahead-based steering algorithm for computing the heading reference ...
    • Ship Motion Control Concepts Considering Actuator Constraints 

      Lyngstadaas, Ole Nikolai (Master thesis, 2018)
      Numerous motion controllers and autopilots have been proposed over the years. Most control algorithms found in the literature do not explicitly consider saturation constraints for the actuators. In traditional control ...
    • Short-term ASV Collision Avoidance with Static and Moving Obstacles 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article; Peer reviewed, 2019)
      This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). ...
    • The Autosea project: Developing closed-loop target tracking and collision avoidance systems 

      Brekke, Edmund Førland; Wilthil, Erik Falmår; Eriksen, Bjørn-Olav Holtung; Kufoalor, D. Kwame Minde; Helgesen, Øystein Kaarstad; Hagen, Inger Berge; Breivik, Morten; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)
      Autonomous surface vehicles and maritime autonomous surface ships must rely on sense-and-avoid systems for navigating safely among other ships. The main objective of this paper is to present examples of such systems, and ...
    • The branching-course model predictive control algorithm for maritime collision avoidance 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland (Journal article; Peer reviewed, 2019)
      This article presents a new algorithm for short‐term maritime collision avoidance (COLAV) named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is designed to be robust with respect to noise ...
    • Topics in Guided Motion Control of Marine Vehicles 

      Breivik, Morten (Doctoral Theses at NTNU, 1503-8181; 2010:63, Doctoral thesis, 2010)
      A mix between a monograph and an article collection, this PhD thesis considers the concept of guided motion control for marine vehicles, in particular focusing on underactuated marine surface vehicles. The motion control ...