Blar i NTNU Open på forfatter "Eriksen, Bjørn-Olav Holtung"

Viser treff 1-20 av 27

    • 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 ...

    • 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 ...

    • 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 ...

    • Development of an interface between the Autoferry's autonomy system and an external motion controller 

      Voilås, Hallvar (Master thesis, 2021)
      Abstract will be available on 2024-06-07

    • 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 ...

    • Identification of Failure Modes in the Collision Avoidance System of an Autonomous Ferry using Adaptive Stress Testing 

      Hjelmeland, Hanna Waage; Eriksen, Bjørn-Olav Holtung; Mengshoel, Ole Jakob; Lekkas, Anastasios M. (Peer reviewed; Journal article, 2022)
      As complex autonomous systems emerge in the maritime sector, measures must be taken in order to ensure thorough safety assessment. Real world testing can be costly and potentially dangerous, and therefore there is a need ...

    • Improvement of an Autonomous Passenger Ferry Model Based on Multivariate Residual Modeling 

      Jervan, Magnus (Master thesis, 2020)
      Når man utvikler en autonom ferge beregnet til å operere i trange områder, er det viktig med et nøyaktig kontrollsystem. Presisjonen til kontrollsystemet kan forbedres ved a bruke en foroverkobling for å estimere det ...

    • 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 ...

    • 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 ...

    • Multivariate Modeling and Adaptive Control of Autonomous Ferries 

      Aurlien, Andreas; Breivik, Morten; Eriksen, Bjørn-Olav Holtung (Peer reviewed; Journal article, 2021)
      This paper deals with the design and evaluation of a multivariate-based adaptive controller for marine surface vessels. The goal is to make a system that periodically updates the vessel model, used by a dynamic positioning ...