Blar i NTNU Open på forfatter "Bitar, Glenn Ivan"
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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 ... -
Automatic and practical route planning for ships
Vestad, Vegard Nitter (Master thesis, 2019)Hvis et skip skal seile fra en lokasjon til en annen, er en rute vanligvis laget av en erfaren navigatør, selv om automatiske ruteplanleggere allerede eksisterer. Årsaken til at mange automatiske ruteplanleggere er ... -
Collision Avoidance for Two Autonomous USVs in Formation With Maneuvering Limitations
Hansen, Harald Minde (Master thesis, 2023)Denne oppgaven omhandler kollisjonsunngåelse med hindringer for de to ubemannede underaktuerte overflatefartøyene (USV) Frigg og Odin. USV-ene drar et minesveipsystem etter seg, som begrenser USV-ene til å kjøre i en ønsket ... -
Energy-Optimized Path Planning for Autonomous Ferries
Bitar, Glenn Ivan; Breivik, Morten; Lekkas, Anastasios M. (Journal article, 2018)The topic of energy-optimized path planning using pseudospectral optimal control is considered. An optimal control problem (OCP) is formulated to produce an energy-optimized path between two points among static obstacles. ... -
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). ... -
Optimization-Based Automatic Docking and Berthing of ASVs Using Exteroceptive Sensors: Theory and Experiments
Martinsen, Andreas Bell; Bitar, Glenn Ivan; Lekkas, Anastasios M.; Gros, Sebastien (Peer reviewed; Journal article, 2020)Docking of autonomous surface vehicles (ASVs) involves intricate maneuvering at low speeds under the influence of unknown environmental forces, and is often a challenging operation even for experienced helmsmen. In this ... -
Towards the Development of Autonomous Ferries
Bitar, Glenn Ivan (Master thesis, 2017)Autonomous ships is at the moment a heavily researched topic in the maritime industry. Development to introduce autonomous ferries in the Norwegian fjords is under way. This thesis is a study of technical and formal ... -
Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments
Bitar, Glenn Ivan; Martinsen, Andreas Bell; Lekkas, Anastasios; Breivik, Morten (Peer reviewed; Journal article, 2020)We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. ... -
Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments
Bitar, Glenn Ivan; Martinsen, Andreas Bell; Lekkas, Anastasios; Breivik, Morten (Peer reviewed; Journal article, 2020)We propose a method for energy-optimized trajectory planning for autonomous surface vehicles (ASVs), which can handle arbitrary polygonal maps as obstacle constraints. The method comprises two stages: The first is a hybrid ... -
Warm-Started Optimized Trajectory Planning for ASVs
Bitar, Glenn Ivan; Vestad, Vegard Nitter; Lekkas, Anastasios M.; Breivik, Morten (Journal article; Peer reviewed, 2019)We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, ...