milliAmpere: An Autonomous Ferry Prototype
Brekke, Edmund Førland; Eide, Egil; Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Breivik, Morten; Skjellaug, Even; Helgesen, Øystein Kaarstad; Lekkas, Anastasios M.; Martinsen, Andreas Bell; Thyri, Emil Hjelseth; Torben, Tobias Valentin Rye; Veitch, Erik Aleksander; Alsos, Ole Andreas; Johansen, Tor Arne
Peer reviewed, Journal article
Accepted version
Åpne
Permanent lenke
https://hdl.handle.net/11250/3039489Utgivelsesdato
2022Metadata
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Originalversjon
Journal of Physics: Conference Series (JPCS). 2022, 2311 . 10.1088/1742-6596/2311/1/012029Sammendrag
In this paper, we summarize the experiences with the autonomous passenger ferry development prototype milliAmpere, which has been used as a test platform in several research projects at the Norwegian University of Science and Technology (NTNU) since 2017. New algorithms for motion planning, motion control, collision avoidance, docking, multi-target tracking and localization have been developed and verified in full-scale experiments with milliAmpere. The infrastructure surrounding milliAmpere includes several sensor rigs supporting research on multi-sensor fusion and situational awareness, and a shore control lab which can be used to study the interaction between human operators and the autonomous ferry. Building upon the experiences with milliAmpere, the full-scale autonomous ferry milliAmpere2 was recently launched.