Browsing NTNU Open by Author "Roald, Ann Louise"
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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 ... -
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 ...