Blar i NTNU Open på forfatter "Breivik, Morten"

Viser treff 41-60 av 92

    • Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries 

      Helgesen, Øystein Kaarstad; Thyri, Emil Hjelseth; Brekke, Edmund Førland; Stahl, Annette; Breivik, Morten (Peer reviewed; Journal article, 2023)
      Abstract: Maritime collision avoidance systems rely on accurate state estimates of other objects in the environment from a tracking system. Traditionally, this understanding is generated using one or more active sensors ...

    • From Eureka to K-Pos: Dynamic Positioning as a Highly Successful and Important Marine Control Technology 

      Breivik, Morten; Kvaal, Stig; Østby, Per (Journal article; Peer reviewed, 2015)
      Dynamic positioning (DP) started out as an exotic control technology for geological core sampling in deep waters in the early 1960s. The technology gradually became more advanced during the 1970s, especially after it was ...

    • Guidance Algorithms for Planar Path-based Motion Control Scenarios 

      Haugen, Joakim (Master thesis, 2010)
      The problem of performing accurate path maneuvering tasks in planar space is investigated in thesis. The purpose is to utilize limited knowledge about the vehicle's maneuverability constraints to output feasible reference ...

    • Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17 

      Eriksen, Bjørn-Olav Holtung; Bitar, Glenn Ivan; Breivik, Morten; Lekkas, Anastasios M. (Journal article; Peer reviewed, 2020)
      This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13–17 of the International Regulations for Preventing Collisions at Sea (COLREGs). ...

    • Hybrid collision avoidance for autonomous passenger ferries 

      Uttisrud, Anette (Master thesis, 2020)
      Den pågående urbaniseringen stiller økende krav til bærekraftig passasjertransport i byene. Elektriske autonome passasjerferger tilbyr en grønn og tilpasningsdyktig transportløsning som enkelt kan integreres i urbane ...

    • Hybrid Collision Avoidance for Autonomous Surface Vehicles 

      Serigstad, Einvald; Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article; Peer reviewed, 2018)
      Autonomous vehicles and collision avoidance (COLAV) systems are advancing rapidly. However, the majority of the COLAV methods developed are not designed for vehicles with second-order nonholonomic constraints, such as ...

    • Hybrid Collision Avoidance for Autonomous Surface Vessels 

      Serigstad, Einvald (Master thesis, 2017)
      When developing autonomous vehicles, collision avoidance (COLAV) methods are essential. COLAV methods are generally divided into two groups; reactive and deliberate methods. Reactive COLAV methods act solely on sensor data ...

    • A hybrid kinematic controller for resilient obstacle avoidance of autonomous ships 

      Marley, Mathias; Skjetne, Roger; Breivik, Morten; Fleischer, Caroline (Peer reviewed; Journal article, 2020)
      Resilience is an important feature of autonomous systems. To be resilient, a control system must be stable, robust, and safe. This paper explores the use of hybrid feedback controllers to ensure robustness towards uncertainties ...

    • Improvement of an Autonomous Passenger Ferry Model Based on Multivariate Residual Modeling 

      Jervan, Magnus (Master thesis, 2020)
      Når man utvikler en autonom ferge beregnet til å operere i trange områder, er det viktig med et nøyaktig kontrollsystem. Presisjonen til kontrollsystemet kan forbedres ved a bruke en foroverkobling for å estimere det ...

    • Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model 

      Lyngstadaas, Ole Nikolai; Sæterdal, Tore Egil; Sørensen, Mikkel Nørgaard; Breivik, Morten (Chapter, 2018)
      Motion control concepts for ships have traditionally not focused on handling actuator constraints. This paper investigates the effects on performance of a pair of nonlinear control schemes by developing and implementing a ...

    • milliAmpere: An Autonomous Ferry Prototype 

      Brekke, Edmund Førland; Eide, Egil; Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Breivik, Morten; Skjellaug, Even; Helgesen, Øystein Kaarstad; Lekkas, Anastasios M.; Martinsen, Andreas Bell; Thyri, Emil Hjelseth; Torben, Tobias Valentin Rye; Veitch, Erik Aleksander; Alsos, Ole Andreas; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)
      In this paper, we summarize the experiences with the autonomous passenger ferry development prototype milliAmpere, which has been used as a test platform in several research projects at the Norwegian University of Science ...

    • Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is ...

    • Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is ...

    • Modelling and Control of Offshore Ploughing Operations 

      Voldsund, Thor-Arne (Master thesis, 2007)
      Summary: In this thesis work, mathematical models required to simulate an offshore ploughing operation has been derived. This includes a surface vessel model, a model of the plough and its friction force due to seabed ...

    • 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 and COLREGs-aware Trajectory Planning and Collision Avoidance for both Low-Speed and High-Speed ASVs 

      Steinsmo, Andreas (Master thesis, 2023)
      Denne masteroppgaven presenterer to fremgangsmåter for mellom-nivå baneplanlegging for maritime autonome fartøy som unngår kollisjon med dynamiske og statiske hindringer, på en måte som delvis følger trafikkreglene til ...

    • 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 ...

    • Multivariate Modeling and Adaptive Control of Autonomous Ferries 

      Aurlien, Andreas (Master thesis, 2021)
      Nøyaktig og energieffektiv bevegelsesstyring er viktig for sikker og økonomisk drift av marinefartøyer. Denne masteravhandlingen presenterer design og evaluering av en ny multivariat-basert adaptiv kontroller for marine ...

    • Multivariate Modeling and Adaptive Control of Autonomous Ferries 

      Aurlien, Andreas; Breivik, Morten; Eriksen, Bjørn-Olav Holtung (Peer reviewed; Journal article, 2021)
      This paper deals with the design and evaluation of a multivariate-based adaptive controller for marine surface vessels. The goal is to make a system that periodically updates the vessel model, used by a dynamic positioning ...

    • 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 ...