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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    Titel :

    AEOLUS, the ETH Autonomous Model Sailboat


    Beteiligte:
    Friebe, Anna (Herausgeber:in) / Haug, Florian (Herausgeber:in) / Wirz, Jonas (Autor:in) / Tranzatto, Marco (Autor:in) / Liniger, Alex (Autor:in) / Colombino, Marcello (Autor:in) / Hesse, Henrik (Autor:in) / Grammatico, Sergio (Autor:in)

    Kongress:

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


    Erschienen in:

    Robotic Sailing 2015 ; Kapitel : 8 ; 103-112


    Erscheinungsdatum :

    2015-08-12


    Format / Umfang :

    10 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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