Browsing NTNU Open by Author "Breivik, Morten"
Now showing items 61-80 of 92
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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 ... -
NTNU Shore Control Lab: Designing shore control centres in the age of autonomous ships
Alsos, Ole Andreas; Veitch, Erik Aleksander; Pantelatos, Leander Spyridon; Vasstein, Kjetil; Eide, Egil; Petermann, Felix-Marcel; Breivik, Morten (Peer reviewed; Journal article, 2022)As highly automated ships become unmanned, their operators will move into shore-based control centers. In the last years, NTNU has built an advanced and flexible research infrastructure for performing research on autonomous ... -
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 ... -
Optimal Control-based Docking for Autonomous Ferries
Eivind Duus Molven (Master thesis, 2020)Dokking til kai er ansett som en svært krevende operasjon for de fleste marine fartøy. Automatisering av denne prosessen vil kunne føre til bedre sikkerhet, lavere energiforbruk, mindre stress for mannskapet og lavere ... -
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 ... -
Passasjerhåndteringssystem for den autonome urbane passasjerfergen milliAmpere2
Berg, Eline; Johansen, Morgan Boe; Langsåvold, Lars Erik; Vik, Andreas Dollis (Bachelor thesis, 2023)Denne bacheloroppgaven dokumenterer utviklingen og tankegangen for et passasjerhåndteringssystem for milliAmpere2 i Autoferry-prosjektet til Norges teknisk-naturvitenskapelige universitet (NTNU). Dette omfatter design, ... -
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 ... -
A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters
Thyri, Emil Hjelseth; Breivik, Morten; Lekkas, Anastasios M. (Peer reviewed; Journal article, 2020)A deliberate collision avoidance approach for autonomous surface vehicles operating in confined waters with high traffic is presented. The approach focuses on dynamic obstacles, by assuming a predefined set of paths that ... -
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 ... -
Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents
Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad; Breivik, Morten; Skjetne, Roger (Chapter, 2020)Autonomous surface vehicles (ASVs) are safety-critical systems that must provide strict safety guarantees such as collision avoidance to enable fully autonomous operations. This paper presents a unified framework for ... -
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 ...