Trajectory Tracking with Collision Avoidance for Large Vessel Draft Surveys

• Main Author: Saleheen, A B M
• Format: Master Thesis
• Language: English
• Published: UiT Norges arktiske universitet 2024
• Subjects: Ship Draft Survey; Maritime Sector; Quadrotor Control; Model Predictive Control; Trajectory Tracking; Collision Avoidance; Simulation; STE-3900; Narvik
• Online Access: https://hdl.handle.net/10037/34162

This thesis explores the innovative use of unmanned aerial vehicles to conduct draft surveys of large maritime vessels. This process is critical for determining vessel load through water displacement measurements. At the port of Narvik, a crew typically performs this task manually, where LKAB’s iron...