Browsing NTNU Open by Author "Haraldsen, Aurora"
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Collision Avoidance using the Velocity Obstacle Algorithm for Underactuated Surface Vehicles
Haraldsen, Aurora (Master thesis, 2020)Denne masteravhandlingen presenterer en matematisk analyse av hastighet hindring algoritmen (eng. the velocity obstacle algorithm) for kollisjonsunngåelse i det horisontale planet. Algoritmen, som er hyppig brukt for reaktiv ... -
Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)Over the recent years, there has been an increasing interest in autonomous systems. Consequently, the problem of avoiding static and dynamic obstacles without human interference has gained a lot of attention. Avoiding ... -
Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Chapter, 2021)Avoiding collisions is a crucial task for autonomous systems. Many strategies for avoiding obstacles have been proposed, yet the problem of having underactuated dynamics is rarely addressed in previous studies of collision ... -
Vehicle Safety of the Velocity Obstacle Algorithm
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2020)This paper presents a mathematical analysis of the velocity obstacle algorithm applied to a nonholonomic vehicle for avoiding a moving obstacle in the plane. The velocity obstacle algorithm can be used for local navigation ...