• A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with nonholonomic constraints. The algorithm steers the heading and pitch angle of the vehicle in order to maintain a constant avoidance angle ...
    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
    • 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 Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Savkin, Andrey (Journal article; Peer reviewed, 2017)
      This paper presents a reactive collision avoidance algorithm for vehicles with unicycle-type nonholonomic constraints. Static and dynamic obstacles are avoided by keeping a constant avoidance angle to the obstacle. The ...
    • A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2017)
      This paper presents a reactive collision avoidance algorithm, which avoids both static and moving obstacles by keeping a constant avoidance angle between the vehicle velocity vector and the obstacle. In particular, we ...
    • An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed ...
    • Autonomous Optical Survey Based on Unsupervised Segmentation of Acoustic Backscatter 

      Sture, Øystein; Fossum, Trygve Olav; Ludvigsen, Martin; Syre Wiig, Martin (Chapter, 2018)
      The application of acoustics to study the seabed have for decades provided industry and science with valuable information, and is still excels in terms of spatial coverage and detail. An acoustic response from the seabed ...
    • Autonomous Optical Survey Based on Unsupervised Segmentation of Acoustic Backscatter 

      Sture, Øystein; Fossum, Trygve Olav; Ludvigsen, Martin; Syre Wiig, Martin (Journal article, 2018)
      The application of acoustics to study the seabed have for decades provided industry and science with valuable information, and is still excels in terms of spatial coverage and detail. An acoustic response from the seabed ...
    • Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      Avoiding collisions is a crucial ability for unmanned vehicles. In this paper, we present the constant avoidance angle algorithm, a reactive method for collision avoidance. It can be used to avoid both static and moving ...
    • Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy 

      Caharija, Walter; Syre Wiig, Martin; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2016)
      This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom usingphysical principles, and it is ...
    • NTNU-FFI Cruise 2017 - Hugin Autonomy Integration (DUNE, T-REX) 

      Sture, Øystein; Syre Wiig, Martin; Fossum, Trygve Olav (NTNU Cruise reports;, Research report, 2017)
      The following report describes the integration of a dedicated autonomy co-processor on FFI Hugin HUS. The integration was experimentally validated during a joint FFI-NTNU cruise in November 2017. The cruise in its entirety ...
    • Uniform semiglobal exponential stability of integral line-of-sight guidance laws 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Elsevier IFAC Publications / IFAC Proceedings series;, Conference object; Journal article; Peer reviewed, 2015)
      This paper proves that an integral line-of-sight guidance law for path following control of underactuated marine vessels provides uniform semiglobal exponential stability. The stability result is stronger than what has ...