Browsing by Author "Pettersen, Kristin Ytterstad"

Now showing items 1-13 of 13

    • 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 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 ...

    • Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents 

      Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (2022-11-29)
      This 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 ...

    • 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 ...

    • Path Planning for UGVs Based on Traversability Hybrid A* 

      Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Ytterstad (2021-02-01)
      In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability ...

    • 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 ...

    • Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape 

      Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (2021-11-01)
      Over the recent years, there has been an increasing interest in autonomous systems. Consequently, the problem of avoiding static and dynamic obstacles without human interference has gained a lot of attention. Avoiding ...

    • Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept 

      Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (2021-08)
      Avoiding collisions is a crucial task for autonomous systems. Many strategies for avoiding obstacles have been proposed, yet the problem of having underactuated dynamics is rarely addressed in previous studies of collision ...

    • 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 ...

    • Vehicle Safety of the Velocity Obstacle Algorithm 

      Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (2021-01)
      This paper presents a mathematical analysis of the velocity obstacle algorithm applied to a nonholonomic vehicle for avoiding a moving obstacle in the plane. The velocity obstacle algorithm can be used for local navigation ...