Browsing NTNU Open by Author "Brekke, Edmund Førland"
Now showing items 1-20 of 108
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A hybrid approach to underwater docking of AUVs with cross-current
Henriksen, Vegard F; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad; Sans-Muntadas, Albert (Journal article, 2016)This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is ... -
A real-time DVL and pressure sensor AINS comparison study between EKF, ESKF and NLO for Manta-2020
Denvik, Øyvind (Master thesis, 2020)Denne rapporten presenter en sanntids doppler velocity logger og trykksensor hjulpet treghets navigasjons system. Den sammenligner en feil-tilstand Kalman tilstandestimator basert på Joan Solà versjon [2] med gyro og ... -
Adaptive Tuning of Acoustic Positioning Sensor
Ulvin, Fredrik (Master thesis, 2017)This thesis compare methods of noise covariance estimation with the aim to improve the percision of Extended Kalman Filter (EKF) estimates of acoustic distance measurements. Because computational load is a priority, only ... -
AIS Aided Multi Hypothesis Tracker - Multi-Frame Multi-Target Tracking Using Radar and the Automatic Identification System
Liland, Erik (Master thesis, 2017)To enable autonomous sea vessel's safe voyage, a real time situational awareness system is required. A tracking system incorporating both radar and Automatic Identifcation System (AIS) sensor data is preferred in maritime ... -
AIS-based Vessel Trajectory Prediction for ASV Collision Avoidance
Hexeberg, Simen (Master thesis, 2017)The automotive industry has already taken a big step towards fully autonomous vehicles. This trend is now spreading to the maritime industry with development of autonomous surface vessels (ASVs). A reliable collision ... -
An Experimental Study of a Redundant Position System for the Autonomous Ferry Milliampere Utilizing Ultra Wide-Band Radio Frequencies
Hegerland, Svein Olav (Master thesis, 2018)The interest in developing Autonomous Surface Vessels (ASVs) has increased significantly during the last decades, and cutting-edge systems are being developed. The maritime industry is focusing heavily on the research ... -
Automatic Calibration of Ship-mounted Cameras’ Extrinsic Parameters
Bjerkehagen, Daniel (Master thesis, 2023)Kalibrering er et sentralt tema innenfor autonome systemer som følge av at antakelsen om kalibrerte sensorer alltid er tilstede når sensordata brukes til å utvikle en modell av verden rundt det autonome systemet. Til tross ... -
Automatic testing of maritime collision avoidance algorithms
Minne, Paal Kristian Eknes (Master thesis, 2017)For Autonomous Surface Vessels (ASVs) to be put into commercial operation and gain public acceptance, they will have to be as safe, or safer then similar vessels operated by humans. Today, maritime control systems are ... -
Automatic testing of maritime collision avoidance methods with sensor fusion
Henriksen, Eivind Sørum (Master thesis, 2018)The development of Autonomous Surface Vessels (ASVs) has during the recent years seen a great progress. When being completely developed, these vessels may be used in a variety of scientific and commercial operations, ... -
Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control
Kufoalor, D. Kwame Minde; Wilthil, Erik Falmår; Hagen, Inger Berge; Brekke, Edmund Førland; Johansen, Tor Arne (Chapter, 2019)This paper addresses the challenges of making safe and predictable collision avoidance decisions considering uncertainties related to maritime radar tracking. When a maritime radar is used for autonomous collision avoidance, ... -
Autonomous Maritime Collision Avoidance: Field verification of Autonomous Surface Vehicle Behavior in Challenging Scenarios
Kufoalor, D. Kwame Minde; Johansen, Tor Arne; Brekke, Edmund Førland; Hepsø, Arild; Trnka, Kenan (Journal article; Peer reviewed, 2019)We present results from sea trials for an autonomous surface vehicle (ASV) equipped with a collision avoidance system based on model predictive control (MPC). The sea trials were performed in the North Sea as part of an ... -
Autonomous Navigation, Mapping, and Exploration for Underwater Robots
Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ... -
Autonomous Navigation, Mapping, and Exploration for Underwater Robots
Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ... -
Autonomous Navigation, Mapping, and Exploration for Underwater Robots
Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ... -
Bayesian Bridging Distribution Analysis for Model Based Intent and Long-term Prediction of Vessels
Fridriksson, Fridrik Hilmar Zimsen (Master thesis, 2021)For å sørge for at autonome overflatefartøyer er sikre for bruk blant den allerede eksisterende trafikk, da må den være utstyrt med et antikollisjonssystem. En viktig del av et slikt system er evnen til å kunne oppdage ... -
Cascade Attitude Observer for the SLAM filtering problem
Bjørne, Elias; Johansen, Tor Arne; Brekke, Edmund Førland (Journal article; Peer reviewed, 2017)This article presents an attitude observer that exploits both bearing and range measurements from landmarks, in addition to reference vectors such as magnetometer and accelerometer. It is a gyro bias observer in cascade ... -
Clutter Mitigation for Target Tracking
Brekke, Edmund Førland (Doktoravhandlinger ved NTNU, 1503-8181; 2010:131, Doctoral thesis, 2012)Traditionally, the literature on target tracking assumes that the targets of interest are embedded in homogenous Rayleigh distributed background noise. It is most often assumed that purely kinematic point measurements are ... -
Collision Avoidance for Autonomous Surface Vehicles Using Velocity Obstacle and Set-Based Guidance.
Myre, Helene (Master thesis, 2016)A good and reliable collision avoidance method is essential when operating Autonomous Surface Vehicles (ASVs) at sea. But even though avoiding collisions is the most important part, making sure the ASV's evasive maneuvers ... -
Collision Avoidance System for Ships Utilizing Other Vessels’ Intentions
Kristian Kjerstad (Master thesis, 2020)Før autonome skip kan bli kommersielt akseptert, må de være trygge nok. Å ha et automatisk antikollisjonssystem som følger navigasjonsreglene (COLREGs), er et viktig steg mot å gjøre autonome skip tryggere. Det finnes ... -
Comparing Multiple Extended Object Tracking with Point Based Multi Object Tracking for LiDAR in a Maritime Context
Baerveldt, Martin Lukas; Hem, Audun Gullikstad; Brekke, Edmund Førland (Journal article; Peer reviewed, 2023)In this paper, we compare a recently developed multiple extended object tracking method with a point-based tracker for maritime applications by evaluating the methods on both real and simulated LiDAR data. Being able to ...