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dc.contributor.authorSerigstad, Einvald
dc.contributor.authorEriksen, Bjørn-Olav Holtung
dc.contributor.authorBreivik, Morten
dc.date.accessioned2019-03-15T14:32:38Z
dc.date.available2019-03-15T14:32:38Z
dc.date.created2018-11-21T17:23:37Z
dc.date.issued2018
dc.identifier.citationIFAC-PapersOnLine. 2018, 51 (29), 1-7.nb_NO
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2590311
dc.description.abstractAutonomous vehicles and collision avoidance (COLAV) systems are advancing rapidly. However, the majority of the COLAV methods developed are not designed for vehicles with second-order nonholonomic constraints, such as autonomous surface vehicles (ASVs). This paper proposes the hybrid dynamic window (HDW) algorithm, which in addition to acting as a reactive COLAV method, functions as a trajectory tracker in a hybrid COLAV architecture. The algorithm serves as an interface to any deliberate COLAV method which generates time parameterized trajectories, enabling vehicles to avoid local minima and track optimal trajectories towards the goal. Furthermore, a new distance function is developed for the dynamic window (DW) algorithm, improving the algorithm trajectory planning when operating close to obstacles. A case study is done for an ASV model using the HDW algorithm and the rapidly-exploring random tree (RRT) algorithm, which together form a hybrid COLAV system. The performance is evaluated through simulations using a defined set of performance metrics.nb_NO
dc.language.isoengnb_NO
dc.publisherInternational Federation of Automatic Control (IFAC)nb_NO
dc.titleHybrid Collision Avoidance for Autonomous Surface Vehiclesnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionpublishedVersionnb_NO
dc.source.pagenumber1-7nb_NO
dc.source.volume51nb_NO
dc.source.journalIFAC-PapersOnLinenb_NO
dc.source.issue29nb_NO
dc.identifier.doi10.1016/j.ifacol.2018.09.460
dc.identifier.cristin1633459
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.relation.projectNorges forskningsråd: 244116nb_NO
dc.description.localcode(©) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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