Path planning and control are particularly challenging tasks for a sailboat. In contrast to land vehicles or motorboats, the movement of a sailboat is heavily restricted by the wind direction. This paper focuses on the low-level control acting on the rudder and the sails. Specifically, a standard proportional controller and a non-linear controller have been implemented to track a reference heading. Further, special control algorithms that are activated during a tack or a jibe perform fast and smooth maneuvers. The path planner is based on the minimization of the weighted sum of different cost functions and allows for multi-objective optimization of the boat trajectory such as obstacle avoidance, time-to-target minimization and tactical behaviors.


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    Title :

    AEOLUS, the ETH Autonomous Model Sailboat


    Contributors:

    Conference:

    World Robotic Sailing championship and International Robotic Sailing Conference ; 2015 ; Mariehamn, Finland August 31, 2015 - September 4, 2015


    Published in:

    Robotic Sailing 2015 ; Chapter : 8 ; 103-112


    Publication date :

    2015-08-12


    Size :

    10 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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