• A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints 

      Sørensen, Mikkel Nørgaard; Lyngstadaas, Ole Nikolai; Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article, 2018)
      This paper considers the use of a simplified dynamic window (DW) algorithm to handle actuator magnitude constraints for a 3 degrees-of-freedom dynamic positioning controller for ships. To accomplish this, we use the ...
    • A Model-Based Speed and Course Controller for High-Speed ASVs 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article; Peer reviewed, 2018)
      Well-performing low-level vessel controllers are a necessity for marine motion control applications such as path following, trajectory tracking and collision avoidance for autonomous surface vehicles (ASVs). Designing such ...
    • A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin (Chapter; Peer reviewed, 2016)
      Much research has been done on the subject of collision avoidance (COLAV). However, few results are presented that consider vehicles with second-order nonholonomic constraints, such as autonomous underwater vehicles (AUVs). ...
    • 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 ...
    • A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints 

      Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Eriksen, Bjørn-Olav Holtung (Chapter; Peer reviewed, 2017)
      Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ...
    • AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus 

      Skjetne, Roger; Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Værnø, Svenn Are Tutturen; Brodtkorb, Astrid H.; Sørensen, Asgeir Johan; Kjerstad, Øivind Kåre; Calabrò, Vincenzo; Vinje, Bjørn Ole (Chapter; Peer reviewed, 2017)
      In order to validate relevant dynamic positioning (DP) control algorithms in a realistic environment, a full-scale DP test campaign, the AMOS DP Research Cruise 2016 (ADPRC’16), was organized in a collaboration between the ...
    • 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 ...
    • Automatic model identification of high-speed autonomous surface vehicles 

      Kvalvaag, Torstein Myrene (Master thesis, 2018)
      This thesis investigates a method for identication of a non-first principle control-oriented model for autonomous surface vehicles (ASVs) suggested in [7]. The goal is to develop an automatic substitute for the identification ...
    • Autotuned Dynamic Positioning for Marine Surface Vessels 

      Alme, Jon (Master thesis, 2008)
      Dynamic positioning of surface vessels involves control of vessels with changing dynamics, shifting conditions, for different operational tasks. A controller with fixed controller parameters cannot have an optimal performance ...
    • Collision Avoidance Algorithms for Unmanned Surface Vehicle-Based Formation Control Applications 

      Vintervold, Vetle Stokke (Master thesis, 2010)
      This thesis is the result of work focusing on collision avoidance in connection with formation control for unmanned surface vehicles (USVs) using coordinated target tracking. Especially utilization of such vessels in marine ...
    • Collision avoidance and motion control for autonomous surface vehicles 

      Eriksen, Bjørn-Olav Holtung (Doctoral theses at NTNU;2019:230, Doctoral thesis, 2019)
      This thesis presents topics related to collision avoidance (COLAV) and motion control for autonomous surface vehicles (ASVs). The thesis contains a collection of nine publications, of which six are peer-reviewed conference ...
    • Collision Avoidance for Unmanned Surface Vehicles 

      Loe, Øivind Aleksander G. (Master thesis, 2008)
      Considerable progress has been achieved in recent years with respect to autonomous vehicles. A good example is the DARPA Grand Challenge, a competition for autonomous ground vehicles. None of the competing vehicles managed ...
    • Collision-Free Path Planning for Unmanned Surface Vehicles 

      Nord, Per (Master thesis, 2010)
      At the basis of autonomous behavior of moving vehicles lies the path planning system. How should the vehicle move to get from its initial position to its destination, and do so without harming itself and its surroundings ...
    • Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels 

      Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Journal article; Peer reviewed, 2016)
      Nonlinear control algorithms are often designed with linear feedback terms. Such linear feedback typically gives rise to nice exponential stability properties, but are not physically realistic since all actuators have ...
    • Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas 

      Rabanal, Ole Maurice Røste (Master thesis, 2015)
      The primary purpose of this study is to develop two different dynamic position- ing (DP) controllers for a model-scale supply vessel Cybership III, and determine which control strategy provides a safer, smarter and greener ...
    • Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas 

      Rabanal, Ole Maurice Røste; Brodtkorb, Astrid H.; Breivik, Morten (Journal article; Peer reviewed, 2016)
      This paper considers the design, implementation and experimental verification of two controllers for ship station keeping in extreme seas. In particular, the performance of two dynamic positioning controllers are compared, ...
    • Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels 

      Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Journal article; Peer reviewed, 2015)
      This paper deals with the design and evaluation of four 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 marine ...
    • Compensation of Wave-Induced Motion for Marine Crane Operations 

      Eikeland, Frode Nymark (Master thesis, 2008)
      Most of the systems considering wave synchronization in the literature are concerned with moon pool operations. The objective of this thesis is to transition the existing knowledge from some of that work into marine cranes ...
    • Construction and Control of an Autonomous Sail Boat 

      Stenersen, Henning Seeberg (Master thesis, 2015)
      En autonom seilbåt i liten skala har blitt bygget og testet. Denne har autonomt, eller selvstyrt,klart å seile en forhåndsdefinert bane under testing i feltet. Dette spennende prosjektet har mange sider. Båten er bygget ...
    • Continuous-Curvature Path Generation using Fermat's Spiral 

      Lekkas, Anastasios; Dahl, Andreas R; Breivik, Morten; Fossen, Thor I. (Journal article; Peer reviewed, 2013)
      This paper proposes a novel methodology, based on Fermat's spiral (FS), for constructing curvature-continuous parametric paths in a plane. FS has a zero curvature at its origin, a property that allows it to be connected ...