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Path planning and collision avoidance for autonomous surface vehicles I: a review
(Journal article; Peer reviewed, 2021)Autonomous surface vehicles are gaining increasing attention worldwide due to the potential benefits of improving safety and efficiency. This has raised the interest in developing methods for path planning that can reduce ... -
Path planning and collision avoidance for autonomous surface vehicles II: a comparative study of algorithms
(Journal article; Peer reviewed, 2021)Artificial intelligence is an enabling technology for autonomous surface vehicles, with methods such as evolutionary algorithms, artificial potential fields, fast marching methods, and many others becoming increasingly ... -
Path Planning and Guidance for Marine Surface Vessels
(Master thesis, 2013)Path planning and guidance for marine surface vesselsis the main topic of this thesis. The subject is of great relevance both for unmanned surface vehicles (USV) and for autopilot systems for manned vessels.A general ... -
Path Planning and Obstacle Avoidance for Marine Vessels Using the Deep Deterministic Policy Gradient Method
(Master thesis, 2019)Med autonomi som et av hovedfokusene innen utviklingen av den maritime industrien er dokking-fasen et aspekt av et fullt autonomt fartøy som ennå ikke er utforsket fullt ut. På grunn av manøvreres kompleksitet er det ... -
Path planning for a telescopic boom lift robot
(Master thesis, 2022)Denne oppgaven presenterer fem ulike algoritmer for en teleskopisk bom lift. Liften vasker en to dimensjonal overflate med en mindre robot arm montert på liften. Robotarmen har et arbeidsområde på en sirkel. Hovedproblemet ... -
Path Planning for Fixed-Wing UAVs in Wind and Icing Conditions
(Master thesis, 2021)Ubemannede fly (UAV) har en rekke anvendelser, som levering av varer, kartlegging, og søk og redning i områder som er utilgjengelige for mennesker. Det er imidlertid flere utfordringer knyttet til utbredt bruk av UAV-er ... -
Path Planning for Formation Control of Autonomous Vehicles
(Chapter, 2016)In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point ... -
Path Planning for Multi-Rotor Unmanned Aerial Vehicles (UAVs) Operating in Known Confined Space
(Master thesis, 2022)Denne masteroppgaven anser et bruksområde hvor en multi-rotor inspeksjons dronen autonomt skal inspisere et sett med punkter inne i en ballast tank på et skip. For å oppnå dette, så er et av de første stegene å implementere ... -
Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion
(Chapter, 2020)Development of snake robots have been motivated by the ability of snakes to move efficiently in unstructured and cluttered environments. A snake robot has the potential to utilise obstacles for generating locomotion, in ... -
Path Planning for Search and Rescue Mission using Multicopters
(Master thesis, 2014)This thesis considers path planning for a low-cost multicopter used in the searchpart of a search and rescue mission. Search patterns or trajectories are consideredand evaluated through simulations in MATLAB. How to place ... -
Path planning for UAV harvesting information from dynamical wireless sensor nodes at sea
(Chapter, 2022)A system of several wireless sensor nodes and one unmanned aerial vehicle (UAV) is considered in this research. The nodes are only floating and drifting with the sea stream. The UAV will be operating as a data mule to ... -
Path planning for UAV harvesting information from dynamical wireless sensor nodes at sea
(Chapter, 2022)A system of several wireless sensor nodes and one unmanned aerial vehicle (UAV) is considered in this research. The nodes are only floating and drifting with the sea stream. The UAV will be operating as a data mule to ... -
Path Planning for UGVs Based on Traversability Hybrid A*
(Peer reviewed; Journal article, 2021)In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability ... -
Path Planning for Vehicle Motion Control Using Numerical Optimization Methods
(Master thesis, 2015)Path planning is an important part of many systems, especially autonomous systems. Finding the optimal paths for various vehicles, given different optimization criteria such as the shortest, fastest, straightest or ... -
Path planning for wave-powered unmanned surface vehicle based on electronic navigational charts and weather data
(Master thesis, 2022)Denne masteroppgaven gjør rede for utviklingen og implementasjonen av en stifinner for en USV som drives av bølgekraft. USVen, NTNU AutoNaut, er en del av et forskningsprosjekt på NTNU i Trondheim. Stifinning for AutoNaut ... -
Path planning of a nRF52850 robot: return home without server input
(Master thesis, 2023)Denne oppgaven er skrevet som en del av et større prosjekt, kalt SLAM Robot Project, som har et overordnet mål om å bruke flere samarbeidene roboter til å utforske og kartlegge et ukjent område. Hovedformålet med denne ... -
Path Planning of Multi-UAS Communication Relay by Decentralized MPC
(Chapter, 2018)When using Autonomous Surface Vehicles (ASV) in marine operations, long distances and/or low power transmissions may severely limit the communication between the ASV and the ground station. One solution to overcome this ... -
Path Planning, Dynamic Trajectory Generation and Control Analysis for Industrial Manipulators
(Master thesis, 2011)Many unsolved problems exists in the field of robot control.This text investigates state of the art methods for path finding, trajectory generation and control in order to identify their properties, which problems they are ... -
Path-following and Collision Avoidance using World Models
(Master thesis, 2023)Denne masteroppgaven presenterer en applikasjon av den modellbaserte forsterkningslæringsagen- ten DreamerV2 for banefølging og kollisjonsunngåelse med autonome overflatsfartøy. Fartøyet lærer gjennom interaksjon med ... -
Path-Planning, Guidance and Navigation Tools for Docking Underactuated AUVs
(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 ...