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.


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    Title :

    An Attractor/Repellor Approach to Autonomous Sailboat Navigation


    Contributors:

    Published in:

    Publication date :

    2018-01-01


    Size :

    11 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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