NDLI: Reactive path planning for autonomous sailboat

Content Provider	IEEE Xplore Digital Library
Author	Petres, C. Romero-Ramirez, M.-A. Plumet, F.
Copyright Year	2011
Description	Author affiliation: UPMC Univ Paris 06, ISIR (Institut des Systémes Intelligents et de Robotique) CNRS - UMR 7222 4 place Jussieu, 75005 Paris - France (Petres, C.; Romero-Ramirez, M.-A.; Plumet, F.)
Abstract	Among Autonomous Surface Vehicles (ASV), sailboat robots could be an efficient solution for long term missions and semi-persistent presence in the oceans since they rely on renewable energy like solar and wind energies. However, the steering of such vehicles presents an inherent difficulty since the thrust force heavily rely on the wind (speed and direction) and sail angle as well as on the underlying complex dynamic properties of the ship, mainly due to the aero and hydrodynamic forces acting on the sails and on the hull. In this paper, a new reactive path planning method is proposed, which takes into account the so called no-go zones and turns them into virtual obstacles. A potential field algorithm is then applied to drive the sailboat towards the goal while avoiding obstacles even when the goal is located directly downwind or upwind. Simulations, using a boat specific dynamic simulator, show that the proposed method can successfully drive an autonomous boat to a set of predefined way-points under time varying wind conditions. This method is computationally efficient and is suitable for on-board real-time implementation.
Starting Page	112
Ending Page	117
File Size	1036526
Page Count	6
File Format	PDF
ISBN	9781457711589
e-ISBN	9781457711596
DOI	10.1109/ICAR.2011.6088585
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-20
Publisher Place	Estonia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Boats Trajectory Vehicles Vehicle dynamics Robots Numerical models
Content Type	Text
Resource Type	Article

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