dc.contributor.advisor | Brekke, Edmund Førland | |
dc.contributor.advisor | Engelhardtsen, Øystein | |
dc.contributor.advisor | Glomsrud, Jon Arne | |
dc.contributor.advisor | Eriksen, Bjørn-Olav Holtung | |
dc.contributor.author | Minne, Paal Kristian Eknes | |
dc.date.accessioned | 2017-08-28T14:00:50Z | |
dc.date.available | 2017-08-28T14:00:50Z | |
dc.date.created | 2017-06-19 | |
dc.date.issued | 2017 | |
dc.identifier | ntnudaim:16462 | |
dc.identifier.uri | http://hdl.handle.net/11250/2452112 | |
dc.description.abstract | For Autonomous Surface Vessels (ASVs) to be put into commercial operation and gain
public acceptance, they will have to be as safe, or safer then similar vessels operated by
humans. Today, maritime control systems are verified by class societies with established
methods, such as hardware-in-the-loop (HIL)-testing. ASVs are equipped with collision
avoidance systems and are critical for the safety of ASV operations. Sparse research exist
on verification of these systems and their underlying collision avoidance algorithms.
In this thesis a framework for enabling automatic testing of collision avoidance algorithms
is developed. Two collision avoidance algorithms are implemented. One is based on
the velocity obstacle and the other is based on a type model predictive control, called
simulation-based control behavior selection. These systems are tested in automatically
generated scenarios and evaluated using a set of metrics. The implemented metrics are
developed in the PhD thesis by Kyle Woerner. The implemented metrics are able to detect
COLREGS violating behaviors and some characteristics of each system are identified. | |
dc.language | eng | |
dc.publisher | NTNU | |
dc.subject | Kybernetikk og robotikk, Navigasjon og fartøystyring | |
dc.title | Automatic testing of maritime collision avoidance algorithms | |
dc.type | Master thesis | |