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dc.contributor.authorHaraldsen, Auroraen_GB
dc.contributor.authorSyre Wiig, Martinen_GB
dc.contributor.authorPettersen, Kristin Ytterstaden_GB
dc.date.accessioned2023-01-02T10:50:52Z
dc.date.accessioned2023-01-06T10:48:10Z
dc.date.available2023-01-02T10:50:52Z
dc.date.available2023-01-06T10:48:10Z
dc.date.issued2022-11-29
dc.identifier.citationHaraldsen A, Syre Wiig MSW, Pettersen KY. Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine. 2022en_GB
dc.identifier.urihttp://hdl.handle.net/20.500.12242/3130
dc.descriptionHaraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine 2022en_GB
dc.description.abstractThis paper considers the problem of collision avoidance for surface vehicles moving under the influence of ocean currents. The vehicles we consider have underactuated dynamics, where the vehicle cannot directly control its lateral motion, which is a common trait of marine vehicles. We propose a reactive algorithm where the vehicle dynamics, including its underactuation and the effects of an ocean current disturbance, are handled directly in the avoidance strategy. Moreover, the algorithm only requires a limited amount of information about the obstacle and is proven to guarantee collision avoidance, as well as the completion of a nominal goal, under explicitly derived conditions. The theory is validated by simulations.en_GB
dc.language.isoenen_GB
dc.subjectKollisjonsunngåelseen_GB
dc.subjectMarinefartøyeren_GB
dc.titleCollision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currentsen_GB
dc.date.updated2023-01-02T10:50:52Z
dc.identifier.cristinID2097155
dc.identifier.doi10.1016/j.ifacol.2022.10.476
dc.relation.projectIDNorges forskningsråd: 223254
dc.relation.projectIDNorges forskningsråd: 302435
dc.source.issn2405-8963
dc.type.documentJournal article
dc.relation.journalIFAC-PapersOnLine


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