Blar i NTNU Open på forfatter "Haraldsen, Aurora"
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Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2022)This paper considers the problem of collision avoidance for surface vehicles moving under the influence of ocean currents. The vehicles we consider have underactuated dynamics, where the vehicle cannot directly control its ... -
Collision Avoidance using the Velocity Obstacle Algorithm for Underactuated Surface Vehicles
Haraldsen, Aurora (Master thesis, 2020)Denne masteravhandlingen presenterer en matematisk analyse av hastighet hindring algoritmen (eng. the velocity obstacle algorithm) for kollisjonsunngåelse i det horisontale planet. Algoritmen, som er hyppig brukt for reaktiv ... -
Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments *
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Chapter, 2023)Obstacle avoidance is a critical part in the control of autonomous vehicles. This paper proposes an obstacle avoidance algorithm based on the computationally advantageous collision cone concept, for unicycles which may be ... -
Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems
Iversflaten, Markus H.; Haraldsen, Aurora; Pettersen, Kristin Y. (Journal article; Peer reviewed, 2022)Cooperative control of autonomous underwater robots can provide capabilities that exceed those of any single marine robot. In this paper, the cooperation between two different underwater vehicle-manipulator systems is ... -
Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)Over the recent years, there has been an increasing interest in autonomous systems. Consequently, the problem of avoiding static and dynamic obstacles without human interference has gained a lot of attention. Avoiding ... -
Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Chapter, 2021)Avoiding collisions is a crucial task for autonomous systems. Many strategies for avoiding obstacles have been proposed, yet the problem of having underactuated dynamics is rarely addressed in previous studies of collision ... -
Vehicle Safety of the Velocity Obstacle Algorithm
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2020)This paper presents a mathematical analysis of the velocity obstacle algorithm applied to a nonholonomic vehicle for avoiding a moving obstacle in the plane. The velocity obstacle algorithm can be used for local navigation ...