Browsing NTNU Open by Author "Kufoalor, D. Kwame Minde"
Now showing items 1-11 of 11
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Automatic Dock-to-Dock Control System for Surface Vessels using Bumpless Transfer
Walmsness, Jens Emil; Helgesen, Håkon Hagen; Larsen, Stefan; Kufoalor, D. Kwame Minde; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)This paper proposes and demonstrates an automatic steering system designed for passenger ferries with dock-to-dock capabilities. The method consists of a modular control architecture and bumpless transfer transition ... -
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 ... -
Block factorization of step response model predictive control problems
Kufoalor, D. Kwame Minde; Frison, Gianluca; Imsland, Lars Struen; Johansen, Tor Arne; Jørgensen, JB (Journal article; Peer reviewed, 2017)By introducing a stage-wise prediction formulation that enables the use of highly efficient quadratic programming (QP) solution methods, this paper expands the computational toolbox for solving step response MPC problems. ... -
Combined Safety and Security Risk Analysis using the UFoI-E method: A Case Study of an Autonomous Surface vessel
Carreras Guzman, Nelson Humberto; Kufoalor, D. Kwame Minde; Kozine, Igor; Lundteigen, Mary Ann (Chapter, 2019)Many standards consider safety and security risk analysis as separate fields, specifying the system specific safety or security issues and methods to analyze them. Having these separated fields of safety and security ... -
Extracting Mapped Hazards from Electronic Navigational Charts for ASV Collision Avoidance
Otterholm, Ole Sivert (Master thesis, 2019)Det finnes mange Elektroniske Navigasjonskart med detaljert beskrivelse om det maritime miljøet tilgjengelig idag. Disse kartene er laget av hydrografiske kontorer, hvor de følger et standardisert format som gjør det mulig ... -
MPC-based Collision Avoidance Strategy for Existing Marine Vessel Guidance Systems
Hagen, Inger Berge; Kufoalor, D. Kwame Minde; Brekke, Edmund Førland; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)This paper presents a viable approach for incorporating collision avoidance strategies into existing guidance and control systems on marine vessels. We propose a method that facilitates the use of simulation-based Model ... -
Proactive Collision Avoidance for ASVs using A Dynamic Reciprocal Velocity Obstacles Method
Kufoalor, D. Kwame Minde; Brekke, Edmund Førland; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)We propose a collision avoidance method that incorporates the interactive behavior of agents and is proactive in dealing with the uncertainty of the future behavior of obstacles. The proposed method considers interactions ... -
Scenario-Based Model Predictive Control with Different Numbers of Decision Steps for COLREGS Compliant Ship Collision Avoidance
Hagen, Inger Berge; Kufoalor, D. Kwame Minde; Johansen, Tor Arne; Brekke, Edmund Førland (Peer reviewed; Journal article, 2022)The main question investigated is whether additional decision steps can improve vessel behavior produced by the collision avoidance method scenario based model predictive control (SBMPC). The method, which functions by ... -
Structure Exploitation of Practical MPC Formulations for speeding up First-Order Methods
Kufoalor, D. Kwame Minde; Richter, Stefan; Imsland, Lars Struen; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)This paper presents structure exploitation techniques that lead to faster convergence of first-order methods for practical Model Predictive Control (MPC) formulations. We exploit the special structure of output box constraints ... -
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 ...