Blar i NTNU Open på forfatter "Thyri, Emil Hjelseth"
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A 3DOF Path-Following Controller for a Non-Directionally Stable Vessel with Slow Thruster Dynamics
Thyri, Emil Hjelseth; Bitar, Glenn Ivan; Breivik, Morten (Peer reviewed; Journal article, 2021)In this paper, a 3DOF path-following controller for an electric double-ended passenger ferry prototype is presented. The controller is formulated through a 3-step backstepping approach, taking into consideration several ... -
A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries
Thyri, Emil Hjelseth (Master thesis, 2019)Under utviklingen av autonome systemer, som for eksempel autonome passasjerferger, er det to kritiske sub-systemer som må være på plass for at systemet ikke bare skal være automatisert. Det første er et situasjonsforståe ... -
An Area-Time Trajectory Planning Approach to Collision Avoidance for Confined-Water Vessels
Berget, Herman (Master thesis, 2021)Denne masteroppgaven presenterer en baneplannleggingsmetode for Collision Avoidance (COLAV) for en Autonomous Surface Vehicle (ASV) i trange farvann og med andre fartøy i nærheten. Metoden baserer seg på å representere ... -
Automated docking for underactuated surface vessels: A docking-adapter assisted approach
Horntvedt, Jonas Anker (Master thesis, 2023)Når man designer autonome fartøy for dokk-til-dokk-operasjoner, er det avgjørende å automatisere alle aspekter av reisen. Dokk-til-dokk-operasjonen består typisk av tre faser: frakobling, transport og dokking. Frakobling ... -
Collision avoidance for ASVs through trajectory planning: MPC with COLREGs-compliant nonlinear constraints
Thyri, Emil Hjelseth; Breivik, Morten (Peer reviewed; Journal article, 2022)This article presents a trajectory planning method for autonomous surface vessels that is compliant with Rule 8 and rules 13-17 from the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). ... -
COLREGs-aware and MPC-based trajectory planning and collision avoidance for autonomous surface vessels
Hestvik, Erlend (Master thesis, 2022)Et fullt autonomt sjøfartøy må ha både baneplanlegging og kollisjonsungåelse systemer. Egenskapen til å følge et referansespor med tids- og andre effektivitetbegrensninger er helt essensielt for å ha et brukbart autonomt ... -
COLREGs-Aware Collision Avoidance for Autonomous Surface Vehicles using Encounter-Specific Artificial Potential Fields
Kirkerud, Ola Johan Olimb (Master thesis, 2022)Det er mange ulike nivåer av autonomi, hvor full autonomi er det absolutt mest krevende nivået å produsere. Full autonomi krever et system som er uavhengig av menneskelig interaksjon. For å oppnå dette for et autonomt ... -
COLREGs-aware Trajectory Planning and Collision Avoidance for Autonomous Surface Vessels
Thyri, Emil Hjelseth (Doctoral theses at NTNU;2022:318, Doctoral thesis, 2022)This thesis considers trajectory planning and collision avoidance for autonomous surface vessels (ASVs) operating in complex domains in the presence of other vessels. In particular, the task of maneuvering in compliance ... -
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 ... -
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 ... -
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 ... -
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 ... -
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 ... -
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 trajectory prediction in confined waters.
Mehta, Neeraj (Master thesis, 2023)This thesis addresses the challenge of predicting vessel trajectories in confined waters, where the multi-dimensionality of the interaction scene introduces non-linearity in ship paths. The proposed approach utilizes machine ... -
Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems
Matous, Josef; Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad (Chapter, 2021)To enable autonomous vehicles to operate in cluttered and unpredictable environments with numerous obstacles, such vehicles need a collision avoidance system that can react to and handle sudden changes in the environment. ...