• 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 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Horizontal Collision Avoidance for Autonomous Underwater Vehicles 

      Eriksen, Bjørn-Olav Holtung (Master thesis, 2015)
      Vast amounts of research has been done on the subject of collision avoidance. However, limited effort has been put into adapting collision avoidance algorithms to vehicles with second order non-holonomic constraints, such ...
    • 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). ...
    • 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 ...
    • Hybrid Collision Avoidance for Autonomous Surface Vehicles 

      Serigstad, Einvald; Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article; Peer reviewed, 2018)
      Autonomous vehicles and collision avoidance (COLAV) systems are advancing rapidly. However, the majority of the COLAV methods developed are not designed for vehicles with second-order nonholonomic constraints, such as ...
    • Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is ...
    • Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is ...
    • MPC-Based mid-level collision avoidance for ASVs using nonlinear programming 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      In this paper, we present a mid-level collision avoidance algorithm for autonomous surface vehicles (ASVs) based on model predictive control (MPC) using nonlinear programming. The algorithm enables avoidance of both static ...
    • Proactive maritime collision avoidance based on historical AIS data 

      Wu, David Huawei (Master thesis, 2019)
      I de siste årene har det blitt utviklet flere maritime anti-kollisjonssystemer (COLAV-system) for autonome overflatefartøy (ASV). Mange metoder inkluderer løsninger for å følge Konvensjonen om internasjonale regler til ...
    • Radar-based Maritime Collision Avoidance using Dynamic Window 

      Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten (Journal article; Peer reviewed, 2018)
      Collision avoidance systems are a key ingredient in developing autonomous surface vehicles (ASVs). Such systems require real-time information about the environment, which can be obtained from transponder-based systems or ...
    • Short-term ASV Collision Avoidance with Static and Moving Obstacles 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article; Peer reviewed, 2019)
      This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). ...
    • The Autosea project: Developing closed-loop target tracking and collision avoidance systems 

      Brekke, Edmund Førland; Wilthil, Erik Falmår; Eriksen, Bjørn-Olav Holtung; Kufoalor, D. Kwame Minde; Helgesen, Øystein Kaarstad; Hagen, Inger Berge; Breivik, Morten; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)
      Autonomous surface vehicles and maritime autonomous surface ships must rely on sense-and-avoid systems for navigating safely among other ships. The main objective of this paper is to present examples of such systems, and ...
    • The branching-course model predictive control algorithm for maritime collision avoidance 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland (Journal article; Peer reviewed, 2019)
      This article presents a new algorithm for short‐term maritime collision avoidance (COLAV) named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is designed to be robust with respect to noise ...
    • The Neighbor Course Distribution Method with Gaussian Mixture Models for AIS-based Vessel Trajectory Prediction 

      Dalsnes, Bjørnar; Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland (Chapter, 2018)
      When operating an autonomous surface vessel (ASV) in a marine environment it is vital that the vessel is equipped with a collision avoidance (COLAV) system. This system must be able to predict the trajectories of other ...