6 papers
Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments
Glenn Bitar, Andreas B. Martinsen, Anastasios M. Lekkas +1
We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic position…
Improvements to Warm-Started Optimized Trajectory Planning for ASVs
Glenn Bitar, Anastasios M. Lekkas, Morten Breivik
We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types o…
Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17
Bjørn-Olav H. Eriksen, Glenn Bitar, Morten Breivik +1
This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13-17 of the International Regulations for…
Short-term ASV Collision Avoidance with Static and Moving Obstacles
Bjørn-Olav H. Eriksen, Morten Breivik
This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed fo…
Warm-Started Optimized Trajectory Planning for ASVs
Glenn Bitar, Vegard N. Vestad, Anastasios M. Lekkas +1
We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickl…
The Branching-Course MPC Algorithm for Maritime Collision Avoidance
Bjørn-Olav H. Eriksen, Morten Breivik, Erik F. Wilthil +2
This article presents a new algorithm for short-term maritime collision avoidance (COLAV) named the branching-course MPC (BC-MPC) algorithm. The algorithm is designed to be robust…