Karl von Ellenrieder

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— Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current. The USV has a twin hull configuration and a custom-designed propulsion system, which consists of two azimuthing(More)
—A novel method to determine the switching of controllers to increase the performance of a system is presented. Three controllers are utilized to capture three " behaviors " representative of unmanned surface vehicles (USVs). An underactuated nonlinear controller is derived to transit the vehicle between locations; a fully-actuated nonlinear controller is(More)
— Achieving persistent autonomy requires un-manned surface vehicles (USVs) to be able to deal with a wide variety of complex planning situations. In this paper, we introduce a model-predictive, local trajectory planning algorithm for USVs operating in congested and highly dynamic traffic. The planner generalizes the Velocity Obstacle concept to systems with(More)
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