Browsing NTNU Open by Author "Pettersen, Kristin Y."
Now showing items 1-14 of 14
-
A 3D reactive collision avoidance algorithm for underactuated underwater vehicles
Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk (Peer reviewed; Journal article, 2020)Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a three‐dimensional space, and shows how the algorithm can be applied ... -
Collision Avoidance and Path Following for Underactuated Marine Vehicles
Wiig, Martin Syre (Doctoral theses at NTNU;2019:103, Doctoral thesis, 2019)In this thesis we propose and investigate a collision avoidance algorithm for underactuated marine vehicles, both in two and three dimensions. We also investigate the stability properties of a path following algorithm for ... -
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 ... -
Control of Under-actuated Marine Vehicles
Paliotta, Claudio (Doctoral theses at NTNU;2017:240, Doctoral thesis, 2017)In this dissertation, various topics related to control problems for under-actuated marine vehicles are investigated. The thesis is divided into three parts. The first part deals with the source-seeking problem for ... -
Control of Underactuated Marine Vehicles in the Presence of Environmental Disturbances
Belleter, Dennis J.W. (Doctoral theses at NTNU;2016:337, Doctoral thesis, 2016)This thesis presents several topics on the subject of controlling underactuated marine vessels and the rejection of environmental disturbances. To address disturbances caused by waves, an observer is introduced for the ... -
Grasp selection in bin picking tasks for robotic manipulator arm with end-effector geometric constraints
Gravdahl, Irja (Master thesis, 2019)Robotisert «bin-picking» er problemet med å gripe objekter plassert tilfeldig i en kasse og flytte dem til en ny lokasjon, en etter en. Problemet oppstår ofte i industrien der varer kommer til en ny stasjon i store kvanta ... -
Motion Coordination of Mechanical Systems: Leader-Follower Synchronization of Euler-Lagrange Systems using Output Feedback Control
Kyrkjebø, Erik (Doktoravhandlinger ved NTNU, 1503-8181; 2007:60, Doctoral thesis, 2007)his thesis proposes two motion synchronization approaches to coordinate the motion of a follower to a leader within the Euler-Lagrange system framework. The information requirements from the leader are that of position and ... -
Motion planning for terrain vehicles: Path generation with radial-constrained A* and trajectory optimization
Bø, Sondre (Master thesis, 2020)Å planlegge en optimal rute for et bil-lignende terrengkjøretøy byr på forskjellige utfordringer. Den optimale bane kan ikke alltid anses som den korteste, men kan være den ruten med minst stigning, mest klaring eller det ... -
Parameter Estimation in Atomic Force Microscopy: Nanomechanical Properties and High-speed Demodulation
Ragazzon, Michael R. P. (Doctoral theses at NTNU;2018:146, Doctoral thesis, 2018)Atomic force microscopy (AFM) has become a key enabling technology for high-precision study of materials and biological processes over the last few decades. Since its invention in 1986, it has undergone rapid developments ... -
Path-Planning, Guidance and Navigation Tools for Docking Underactuated AUVs
Sans-Muntadas, Albert (Doctoral theses at NTNU;2018:185, Doctoral thesis, 2018)Summary This thesis is motivated by the growing usage of autonomous underwater vehicles (AUVs) and, particularly, how providing them with the ability to reach and dock onto underwater docking stations can positively impact ... -
Robust Control for Articulated Intervention AUVs in the Operational Space
Stene, Arnt Erik (Master thesis, 2019)Denne avhandlingen undersøker robuste kontrollmetoder innenfor «operational space» formuleringen. Metodene er brukt på et artikulert intervensjons undervannskjøretøy (AIAUV) som krever robust kontroll for å motvirke ... -
Robust Control of Articulated Intervention-AUVs Using Sliding Mode Control
Borlaug, Ida-Louise G. (Doctoral theses at NTNU;2020:345, Doctoral thesis, 2020)This thesis is concerned with the theoretical development of trajectory tracking control for an articulated intervention autonomous underwater vehicle (AUV) in 6DOF while using no or as little model knowledge as possible ... -
Utilizing Genetic Programming for System Identification of a High-Speed USV
Halvorsen, Gisle (Master thesis, 2019)Ved utforming av et fartøys kontrollsystem er en tilstrekkelig nøyaktig modell viktig for både kontrollstrategi og simuleringer. For marine høyhastighetsfartøyer er ikke modellering en triviell oppgave. Dynamikken til en ... -
Wing-Augmented Articulated Intervention Autonomous Underwater Vehicle
Martin, Madsen (Master thesis, 2020)Økende temperaturer og forurensing av havet har ført til et økt ønske om å kartlegge havets klima og bærekraftighet. To klasser av undervannsroboter som særlig har utmerket seg for dette formålet i nyere tid er den artikulerte ...