dc.contributor.author | Marley, Mathias | |
dc.contributor.author | Skjetne, Roger | |
dc.contributor.author | Basso, Erlend Andreas | |
dc.contributor.author | Teel, Andrew R. | |
dc.date.accessioned | 2022-03-01T13:59:41Z | |
dc.date.available | 2022-03-01T13:59:41Z | |
dc.date.created | 2022-01-03T21:27:51Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | IFAC-PapersOnLine. 2021, 54 (16), 370-377. | en_US |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/2982156 | |
dc.description.abstract | Control barrier functions (CBFs) ensure safety of controlled dynamical systems, by restricting the control inputs to render desired sets forward invariant. In this paper we propose a dynamic guidance scheme for autonomous vehicles, using CBFs to reactively generate an obstacle-free trajectory. By implementing the safety constraints on a kinematic guidance level, rather than on a lower-level control layer, we do not need to account for uncertainty in the ship dynamics explicitly. Moreover, for ships with well-proven and resilient control systems, this is an appropriate interface level, since it does not require modification of lower-level feedback control. The guidance scheme is applied to maneuvering of underactuated ships, using a virtual vessel with unicycle dynamics to trace out a feasible trajectory. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.relation.uri | https://www.sciencedirect.com/science/article/pii/S2405896321015202 | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.subject | Bevegelsesstyring | en_US |
dc.subject | Motion control | en_US |
dc.subject | Marin kybernetikk | en_US |
dc.subject | Marine cybernetics | en_US |
dc.title | Maneuvering with safety guarantees using control barrier functions | en_US |
dc.type | Journal article | en_US |
dc.type | Peer reviewed | en_US |
dc.description.version | publishedVersion | en_US |
dc.subject.nsi | VDP::Marin teknologi: 580 | en_US |
dc.source.pagenumber | 370-377 | en_US |
dc.source.volume | 54 | en_US |
dc.source.journal | IFAC-PapersOnLine | en_US |
dc.source.issue | 16 | en_US |
dc.identifier.doi | 10.1016/j.ifacol.2021.10.118 | |
dc.identifier.cristin | 1973991 | |
dc.relation.project | Norges forskningsråd: 309230 | en_US |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |