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Collision Avoidance for Multirotor Inspection
(Master thesis, 2018)During the last couple of years, the goal of using unmanned aerial vehicles (UAV) for inspection purposes has become within reach. This thesis considers the different algorithms for implementing a high level controller for ... -
Collision Avoidance for Two Autonomous USVs in Formation With Maneuvering Limitations
(Master thesis, 2023)Denne oppgaven omhandler kollisjonsunngåelse med hindringer for de to ubemannede underaktuerte overflatefartøyene (USV) Frigg og Odin. USV-ene drar et minesveipsystem etter seg, som begrenser USV-ene til å kjøre i en ønsket ... -
Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm
(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 ... -
Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents
(Journal article; Peer reviewed, 2022)This paper considers the problem of collision avoidance for surface vehicles moving under the influence of ocean currents. The vehicles we consider have underactuated dynamics, where the vehicle cannot directly control its ... -
Collision Avoidance for Unmanned Surface Vehicles
(Master thesis, 2008)Considerable progress has been achieved in recent years with respect to autonomous vehicles. A good example is the DARPA Grand Challenge, a competition for autonomous ground vehicles. None of the competing vehicles managed ... -
Collision avoidance of autonomous ships in inland waterways – A survey and open research problems
(Peer reviewed; Journal article, 2023)Promoting autonomous surface ships in inland waterways traffic (IWT) is a potential solution towards reducing road traffic and transport emission footprints. Over the last decade, there has been a growing research on ... -
Collision Avoidance System for Ships Utilizing Other Vessels’ Intentions
(Master thesis, 2020)Før autonome skip kan bli kommersielt akseptert, må de være trygge nok. Å ha et automatisk antikollisjonssystem som følger navigasjonsreglene (COLREGs), er et viktig steg mot å gjøre autonome skip tryggere. Det finnes ... -
Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV
(Chapter, 2020)In this paper we consider the problem of mixed H 2 /H ∞ control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated ... -
Collision Avoidance using the Velocity Obstacle Algorithm for Underactuated Surface Vehicles
(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 ... -
Collision detection and avoidance system based on computer vision
(Master thesis, 2014)A wide selection of stereo matching algorithms have been evaluated for the purpose ofcreating a collision avoidance module. Varying greatly in the accuracy, a few of thealgorithms were fast enough for further use.Two ... -
Collision hazard modeling and analysis in a multi-mobile robots system transportation task with STPA and SPN
(Peer reviewed; Journal article, 2023) -
Collision-Free Path Planning for Unmanned Surface Vehicles
(Master thesis, 2010)At the basis of autonomous behavior of moving vehicles lies the path planning system. How should the vehicle move to get from its initial position to its destination, and do so without harming itself and its surroundings ... -
Colored-Noise Tracking of Floating Objects using UAVs with Thermal Cameras
(Chapter, 2019)Tracking of floating objects using a fixed-wing UAV equipped with a thermal camera requires precise knowledge about the position and attitude of the UAV. Errors in the navigation estimates reduce the accuracy of the tracking ... -
COLREG-Compliance for Autonomous Surface Vehicles using Deep Reinforcement Learning
(Master thesis, 2020)Bruken av og forskning innen autonome systemer har økt kraftig i senere år, inkludert i marin sektor. Ettersom transportsektoren samtidig gjennomgår en omfattende elektrifisering, lover autonom skipsfart ikke bare reduserte ... -
COLREG-Compliant Collision Avoidance for Unmanned Surface Vehicle using Deep Reinforcement Learning
(Peer reviewed; Journal article, 2020)Path Following and Collision Avoidance, be it for unmanned surface vessels or other autonomous vehicles, are two fundamental guidance problems in robotics. For many decades, they have been subject to academic study, leading ... -
COLREGS compliant Collision Avoidance System for a Wave and Solar Powered USV
(Master thesis, 2018)Autonomous ships are the future of modern maritime traffic, but in order to operate in the vicinity of other vessels, Autonomous Surface Vehicles (ASV) must be equipped with a collision avoidance system (CAS). This system ... -
COLREGs-aware and MPC-based trajectory planning and collision avoidance for autonomous surface vessels
(Master thesis, 2022)Et fullt autonomt sjøfartøy må ha både baneplanlegging og kollisjonsungåelse systemer. Egenskapen til å følge et referansespor med tids- og andre effektivitetbegrensninger er helt essensielt for å ha et brukbart autonomt ... -
COLREGs-aware automatic docking for autonomous surface vessels
(Master thesis, 2023)I en æra hvor autonome systemer i økende grad former industrier og hverdagsliv, har området for maritim navigasjon opplevd en betydelig transformasjon. Denne masteroppgaven viser fremskrittene som er gjort i dokkingsprosedyrer, ... -
COLREGs-Aware Collision Avoidance for Autonomous Surface Vehicles using Encounter-Specific Artificial Potential Fields
(Master thesis, 2022)Det er mange ulike nivåer av autonomi, hvor full autonomi er det absolutt mest krevende nivået å produsere. Full autonomi krever et system som er uavhengig av menneskelig interaksjon. For å oppnå dette for et autonomt ... -
COLREGs-aware Trajectory Planning and Collision Avoidance for Autonomous Surface Vessels
(Doctoral theses at NTNU;2022:318, Doctoral thesis, 2022)This thesis considers trajectory planning and collision avoidance for autonomous surface vessels (ASVs) operating in complex domains in the presence of other vessels. In particular, the task of maneuvering in compliance ...