dc.contributor.advisor | Brekke, Edmund F. | |
dc.contributor.author | Wilthil, Erik F. | |
dc.date.accessioned | 2019-11-12T09:47:01Z | |
dc.date.available | 2019-11-12T09:47:01Z | |
dc.date.issued | 2019 | |
dc.identifier.isbn | 978-82-326-4115-4 | |
dc.identifier.issn | 1503-8181 | |
dc.identifier.uri | http://hdl.handle.net/11250/2627875 | |
dc.description.abstract | Several research and industrial projects have been started in recent years to drive the development of autonomous surface vehicles (ASVs). This thesis is one of the contributions to this emerging field, and the topic is on target tracking for maritime collision avoidance using a maritime radar. An ASV requires a full overview of the environment to plan and perform safe maneuvers. With exteroceptive sensors, such as a radar, ASVs are able to detect other vessels, also the ones that are not equipped with an automatic identification system (AIS) transponder. This is in particular relevant near harbors and urban areas, where there is a larger amount of vessels without AIS.
At the core of this thesis is a target tracking system for ASVs based on the probabilistic data association filter (PDAF). This thesis makes several contributions on compensating for varying sensor performance. This is important for enabling smaller ASVs with low-cost sensors. In addition, it also makes contributions to sensor preprocessing, tracking system architecture and integration of target tracking with collision avoidance systems.
The first contribution is on compensating for navigation system errors. An ASV is a moving platform, and uncertainty in the ownship state estimation system can be accounted for in the target tracking system. Second, the radar preprocessing and collision avoidance interfaces are described, as they are important components in practical implementations of target tracking for collision avoidance (COLAV). Third, the performance of track initiation methods are investigated. This includes a performance comparison using detection theoretic measures when the clutter and new target densities are unknown, as they often are in practical systems. Fourth, variations target detection probability is analysed, and three methods of estimating it are developed. Fifth, applications of the tracking system to maritime collision avoidance are presented.
The research goals of the thesis is primarily motivated by real data obtained in the project. The results have been verified both in simulations and in full-scale experiments | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | NTNU | nb_NO |
dc.relation.ispartofseries | Doctoral theses at NTNU;2019:259 | |
dc.relation.haspart | Paper 1: Wilthil, Erik Falmår; Brekke, Edmund Førland. Compensation of navigation uncertainty for target tracking on a moving platform. I: Proceedings of the 19th International Conference on Information Fusion, Institute of Electrical and Electronics Engineers (IEEE). IEEE conference proceedings 2016 | nb_NO |
dc.relation.haspart | Paper 2: Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. A Target Tracking System for ASV Collision Avoidance Based on the PDAF. I: Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer 2017 ISBN 978-3-319-55371-9. s. 269-288
- Is not included due to copyright available at
https://doi.org/10.1007/978-3-319-55372-6_13 | nb_NO |
dc.relation.haspart | Paper 3: Wilthil, Erik Falmår; Brekke, Edmund Førland; Asplin, Oskar Buset. Track Initiation for Maritime Radar Tracking with and without Prior Information. I: 2018 21st International Conference on Information Fusion (FUSION). IEEE 2018 ISBN 9781538643303. s. 472-479
- Is not included due to copyright available at
https://doi.org/10.23919/ICIF.2018.8455260 | nb_NO |
dc.relation.haspart | Paper 4:
Wilthil, E.F; Bar-Shalom, Y; Willett, P.; Brekke,E.
Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework.
2019 22nd
International Conference on Information Fusion (FUSION)
- © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works | nb_NO |
dc.relation.haspart | Paper 5:
Wilthil, E.F; Willett, P.; Bar-Shalom, Y; Brekke,E.
Varying Detectability in Maritime Target Tracking
- This paper is awaiting publication and is not included in NTNU Open | nb_NO |
dc.relation.haspart | Paper 6: Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten. Radar-based Maritime Collision Avoidance using Dynamic Window. IEEE Aerospace Conference. Proceedings 2018 ;Volum 2018
- Is not included due to copyright available at
http://doi.org/ 10.1109/AERO.2018.8396666 | nb_NO |
dc.relation.haspart | Paper 7: Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control 115
https://doi.org/10.23919/ECC.2019.8796273
- © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works | nb_NO |
dc.title | Maritime Target Tracking with Varying Sensor Performance | nb_NO |
dc.type | Doctoral thesis | nb_NO |
dc.subject.nsi | VDP::Technology: 500::Information and communication technology: 550::Technical cybernetics: 553 | nb_NO |