Abstract This paper proposes an alternative navigation method which avoids the use of traditional waypoints and cross-track error, by utilising an array of waypoint attractors and repellors of different strengths and polarities. A range of possible headings either side of the bearing to the waypoint are considered, and the velocity-made good on each heading is computed. The heading with the optimal VMG is chosen. Attractors are waypoints which have a positive effect on the route (like traditional waypoints) and repellors are waypoints which have a negative or repelling effect on the heading.
An Attractor/Repellor Approach to Autonomous Sailboat Navigation
Robotic Sailing 2017 ; 69-79
2018-01-01
11 pages
Article/Chapter (Book)
Electronic Resource
English