Browsing NTNU Open by Author "Wiig, Martin Syre"
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A Reciprocal Collision Avoidance Algorithm for Nonholonomic Vehicles with Constant Forward Speed
Hårstad, Erlend (Master thesis, 2018)There have been an increased interest in autonomous vehicles in recent years following advancements in technology. Such advanced systems requires robust and reliable Collision Avoidance (CA) systems. Reactive Collision ... -
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 ... -
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 ... -
Reactive Collision Avoidance - Safe navigation in a dynamic cluttered environment
Aarvold, Andreas L. (Master thesis, 2018)Collision-free navigation in unknown environments is an essential quality for any autonomous vehicle. In this thesis, a reactive collision avoidance algorithm is presented for vehicles constrained by a unicycle nonholonomic ... -
Sample Based Model Predictive Control for Path Following and Collision Avoidance of Unmanned Surface Vehicles
Fagerlund, Torstein (Master thesis, 2020)Forsvarets forskningsinstitutt (FFI) har i flere år forsket på undervannsfartøy og droner. De siste årene har fokuset også blitt rettet mot autonome overflatefartøy. En av testplattformene som brukes til dette formålet er ... -
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 ...