Browsing by Author "Krogstad, Thomas Røbekk"

Now showing items 1-11 of 11

    • A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with nonholonomic constraints. The algorithm steers the heading and pitch angle of the vehicle in order to maintain a constant avoidance angle ...

    • A 3D reactive collision avoidance algorithm for underactuated underwater vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk (2020-02-28)
      Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a three‐dimensional space, and shows how the algorithm can be applied ...

    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...

    • Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (2019-03-21)
      Avoiding collisions is a crucial ability for unmanned vehicles. In this paper, we present the constant avoidance angle algorithm, a reactive method for collision avoidance. It can be used to avoid both static and moving ...

    • FASTmap: A Multi-Layer Sliding Gridmap for Arbitrary Types 

      Rørstad, Håkon Yssen; Krogstad, Thomas Røbekk (2022-06-20)
      This report presents the Fixed Area Sliding Template map (FASTmap), a versatile and efficient C++ mapping framework for storing arbitrary and heterogeneous data types in a sliding grid map. The framework was first developed ...

    • Formation Path Following Control of Underactuated USVs 

      Eek, Åsmund; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk (2021-06-30)
      This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the ...

    • An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk (2018)
      This paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed ...

    • Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy 

      Syre Wiig, Martin; Caharija, Walter; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad (2016)
      This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom using physical principles, and it is taken into account ...

    • LandX20 Experiment Report – experiment for future land warfare capabilities with focus on increased situational awareness and unmanned systems 

      Mathiassen, Kim; Baksaas, Magnus; Dyrdal Idar; Eikanger, Brage Gerdsønn; Gulbrandsen, Fredrik; Gusland, Daniel; Larsen, Martin Vonheim; Mentzoni, Eilert; Minos-Stensrud, Mathias; Moen, Jonas; Nilssen, Eivind Bergh; Nummedal, Olav Rune; Nygaard, Tønnes; Rolfsjord, Sigmund; Simonsen, Aleksander; Thoresen, Marius; Bakstad, Lorns Harald; Bentsen, Dan Helge; Eggesbø, Christian; Grimstvedt, Eirik Skjelbreid; Haavardsholm, Trym Vegard; Halsør, Marius; Hoelsæter, Øistein; Kolden, David; Krogstad, Thomas Røbekk; Macdonald, Robert Helseth; Nielsen, Niels Hygum; Nonsvik, Guri; Ruud, Else-Line Malene; Seehuus, Rikke Amilde; Wiig, Martin Syre; Østevold, Einar (2022-03-21)
      LandX20 was a collaborative experiment and demonstration where four research projects from the Norwegian Defence Research Establishment (FFI) participated. The goal of the experiment was two-fold. The first goal was to ...

    • A Reactive Collision Avoidance Algorithm for Vehicles withUnderactuated Dynamics 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (2017)
      This paper presents a reactive collision avoidance algorithm, which avoids both static and moving obstacles by keeping a constant avoidance angle between the vehicle velocity vector and the obstacle. In particular, we ...

    • Uniform semiglobal exponential stability of integral line-of-sight guidance laws 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (2015)
      This paper proves that an integral line-of-sight guidance law for path following control of underactuated marine vessels provides uniform semiglobal exponential stability. The stability result is stronger than what has ...