Real Time Reachability Analysis for Marine Vessels
Time: Thu 2018-08-30 15.00 - 16.00
Location: Seminar room (Rumsnr: A:641), Malvinas väg 10, Q-huset, våningsplan 6, KTH Campus
Respondent: Sudakshin Ganesan
Opponent: Allan Andre do Nascimento
Supervisor: Hamid Reza Feyzmahdavian, ABB Corporate Research
Abstract: Safety verification of continuous dynamical systems require the computation of the reachable set. The reachable set comprises those states the system can reach at a specific point in time. The present work aims to compute this reachable set for the marine vessel, in the presence of uncertainties in the dynamic modeling of the system and in the presence of external disturbances in the form of wind, waves and currents. The reachable set can then be used to check if the vessel collides with an obstacle. The dynamic model used is that of a nonlinear maneuvering model for the marine vessel. The dynamics on the azipod actuators are also considered. Several methods are considered to solve the reachability problem for the marine vessel, including Hamilton Jacobi Reachability Analysis, Set theoretic methods and Classification based Reachability Analysis.
This thesis has been carried out at ABB Corporate Research in Västerås, Sweden.
Examiner: Mikael Johansson, KTH