Author
Richard Bucknall
Bio: Richard Bucknall is an academic researcher from University College London. The author has contributed to research in topics: Motion planning & Propulsion. The author has an hindex of 18, co-authored 67 publications receiving 1234 citations.
Papers
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TL;DR: In this article, the authors review the development of collision avoidance techniques and path planning for ships, particularly when engaged in close range encounters, and identify the'state of the art' and issues in close-range marine navigation.
Abstract: Efficient marine navigation through obstructions is still one of the many problems faced by the mariner. Many accidents can be traced to human error, recently increased traffic densities and the average cruise speed of ships impedes the collision avoidance decision making process further in the sense that decisions have to be made in reduced time. It seems logical that the decision making process be computerised and automated as a step forward to reduced the risk of collision. This article reviews the development of collision avoidance techniques and path planning for ships, particularly when engaged in close range encounters. In addition, previously published works have been categorised and their shortcomings highlighted in order to identify the 'state of the art' and issues in close range marine navigation.
221 citations
TL;DR: A novel computer based algorithm that solves the problem of USV formation path planning using the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method.
196 citations
TL;DR: A new path smoothing process with three path smoothers has been developed to improve the performance of the generated route, reducing unnecessary ‘jags’, having no redundant waypoints and offering a more continuous route.
151 citations
TL;DR: In this article, a deterministic path planning algorithm that computes a practical and COLREGS compliant navigation path for vessels which are on a collision course is presented. But it does not consider the traffic from a single vessel perspective.
121 citations
TL;DR: In this article, a multi-layered fast marching (MFM) method was developed to generate practical trajectories for USVs when operating in a dynamic environment, which constructs a synthetic environment framework, which incorporates the information of planning space and surface currents.
115 citations
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01 Jan 2015
TL;DR: This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework and learns what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages.
Abstract: Filtering and smoothing methods are used to produce an accurate estimate of the state of a time-varying system based on multiple observational inputs (data). Interest in these methods has exploded in recent years, with numerous applications emerging in fields such as navigation, aerospace engineering, telecommunications, and medicine. This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework. Readers learn what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages. They also discover how state-of-the-art Bayesian parameter estimation methods can be combined with state-of-the-art filtering and smoothing algorithms. The book’s practical and algorithmic approach assumes only modest mathematical prerequisites. Examples include MATLAB computations, and the numerous end-of-chapter exercises include computational assignments. MATLAB/GNU Octave source code is available for download at www.cambridge.org/sarkka, promoting hands-on work with the methods.
1,102 citations
TL;DR: An overview of both historical and recent USVs development is provided, along with some fundamental definitions, and existing USVs GNC approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges.
709 citations
TL;DR: It is concluded that the control strategy has a significant impact on the resonance of the MC input filter.
Abstract: This paper presents a review of the most popular control and modulation strategies studied for matrix converters (MCs) in the last decade. The purpose of most of these methods is to generate sinusoidal current on the input and output sides. These methods are compared considering theoretical complexity and performance. This paper concludes that the control strategy has a significant impact on the resonance of the MC input filter.
556 citations
TL;DR: The recent progress in two specific areas associated with multiphase systems are surveyed, namely power electronic supply control and innovative ways of using the additional degrees of freedom inMultiphase machines for various nontraditional purposes.
Abstract: Multiphase variable-speed drives and generation systems (systems with more than three phases) have become one of the mainstream research areas during the last decade. The main driving forces are the specific applications, predominantly related to the green agenda, such as electric and hybrid electric vehicles (EVs), locomotive traction, ship propulsion, “more-electric” aircraft, remote offshore wind farms for electric energy generation, and general high-power industrial applications. As a result, produced body of significant work is substantial, making it impossible to review all the major developments in a single paper. This paper therefore surveys the recent progress in two specific areas associated with multiphase systems, namely power electronic supply control and innovative ways of using the additional degrees of freedom in multiphase machines for various nontraditional purposes.
508 citations