MilliAmpere: An Autonomous Ferry Prototype. Issue 1 (1st July 2022)

• Record Type: Journal Article
• Authors: Brekke, Edmund F; Eide, Egil; Eriksen, Bjørn-Olav H; Wilthil, Erik F; Breivik, Morten; Skjellaug, Even; Helgesen, Øystein K; Lekkas, Anastasios M.; Martinsen, Andreas B; Thyri, Emil H.; Torben, Tobias; Veitch, Erik; Alsos, Ole A; Johansen, Tor Arne
• Is Part Of: Journal of physics. Volume 2311:Issue 1(2022)
• Publication Date: 2022-07-01
• Subjects: Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/2311/1/012029
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: In this paper, we summarize the experiences with the autonomous passenger ferry development prototype milliAmpere, which has been used as a test platform in several research projects at the Norwegian University of Science and Technology (NTNU) since 2017. New algorithms for motion planning, motion control, collision avoidance, docking, multi-target tracking and localization have been developed and verified in full-scale experiments with milliAmpere. The infrastructure surrounding milliAmpere includes several sensor rigs supporting research on multi-sensor fusion and situational awareness, and a shore control lab which can be used to study the interaction between human operators and the autonomous ferry. Building upon the experiences with milliAmpere, the full-scale autonomous ferry milliAmpere2 was recently launched.