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Routing and course control of an autonomous sailboat

Hadi Saoud, Minh-Duc Hua, Frederic Plumet, Faiz Ben Amar
2015 2015 European Conference on Mobile Robots (ECMR)  
The high level control uses an adjusted PRM-Dijkstra algorithm for the routing (global path planning) of autonomous sailboat.  ...  In this paper, we present a layered control scheme for an autonomous sailboat.  ...  CONCLUSIONS In this paper, an layered control scheme for an autonomous sailboat is presented.  ... 
doi:10.1109/ecmr.2015.7324218 dblp:conf/ecmr/SaoudHPA15 fatcat:sabrmop7q5fyfie4maqpzxm7si

AIS-Enabled Collision Avoidance Strategies for Autonomous Sailboats [chapter]

José C. Alves, Nuno A. Cruz
2015 Robotic Sailing 2015  
This paper proposes a set of simple rules for implementing a defensive and conservative collision avoidance strategy for autonomous sailing boats, based solely on the AIS data received from large ships  ...  Autonomous sailing boats are a valuable resource for ocean monitoring, sampling and surveillance due to their intrinsic very low energy requirements and extreme capability for long term navigation.  ...  The authors are also thankful to the anonymous reviewers who provided valuable suggestions to improve the final version of the manuscript.  ... 
doi:10.1007/978-3-319-23335-2_6 fatcat:kqpex4txhfgpjcy6dalzu4uwq4

An Engineering Design Approach for the Development of an Autonomous Sailboat to Cross the Atlantic Ocean

Tanaka Akiyama, Jean-Francois Bousquet, Kostia Roncin, Graham Muirhead, Alexandra Whidden
2021 Applied Sciences  
This paper describes, within that frame, a design procedure for the development of a robust fully autonomous sailboat to be deployed for long-term missions.  ...  Moreover, a test procedure for validating each design increment is described as well as a path plan that considers the risk of collision and weather routing with wind and currents.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app11178046 fatcat:zciziohyvjcwnlc4w645k3ewhm

An Experimental Validation of a Robust Controller with the VAIMOS Autonomous Sailboat [chapter]

Fabrice Le Bars, Luc Jaulin
2013 Robotic Sailing 2012  
Indeed, its mechanical design comes from an evolution from thousands of years with two main concerns: having a fast, reliable and ef cient vehicle while being easily controlled by humans.  ...  This article describes the functioning, the validation process and the performances of a simple controller, inspired from what navigators do, through tests made on the sailboat robot VAIMOS built by IFREMER  ...  The authors would like to thank LPO and RDT to have enabled the use of VAIMOS as a test platform for algorithms from ENSTA Bretagne.  ... 
doi:10.1007/978-3-642-33084-1_7 fatcat:wga4kx4hfbdyfbf2mpujqadkhq

A mission programming system for an autonomous sailboat

Jose C. Alves, Nuno A. Cruz
2014 2014 Oceans - St. John's  
The support of conditional statements allows the implementation of a basic control flow mechanism to make route decisions during the deployment of the mission.  ...  However, an effective system for specifying long term autonomous missions is necessary to fill the gap between the developers of the robotic platforms and the scientific end users, mainly interested in  ...  ACKNOWLEDGEMENT The authors would like to acknowledge the support of the Faculty of Engineering of the University of Porto and the Department of Electrical and Computer Engineering.  ... 
doi:10.1109/oceans.2014.7003229 fatcat:6gbbqfo7ujhklhv5louor5pgxm

Navigation performance of an autonomous sailing robot

Nuno A. Cruz, Jose C. Alves
2014 2014 Oceans - St. John's  
This paper addresses the navigation performance of FASt, an autonomous sailboat being developed in Porto, Portugal, since 2008.  ...  A series of results selected from various sea trials illustrate the accuracy of navigation and the maneuvering ability.  ...  ACKNOWLEDGEMENT The authors would like to acknowledge the support of the Faculty of Engineering of the University of Porto and the Department of Electrical and Computer Engineering.  ... 
doi:10.1109/oceans.2014.7003227 fatcat:e77y637vljh6ffdozm4z5enw34

Autonomous sailboats: An emerging technology for ocean sampling and surveillance

Nuno A. Cruz, Jose Carlos Alves
2008 OCEANS 2008  
Autonomous sailboats are robotic vessels that use wind energy for propulsion and control the sails and rudders without human intervention.  ...  The use of autonomous sailboats for ocean sampling has been tentatively proposed before, but there have been minor efforts towards the development and deployment of actual prototypes, due to a number of  ...  ACKNOWLEDGEMENTS The authors would like to acknowledge the support from the Department of Electrical and Computer Engineering at FEUP and the companies sponsoring the construction of FASt.  ... 
doi:10.1109/oceans.2008.5152113 fatcat:atbldbbadnd7plcklo5lukgpcu

An Improved beetle swarm optimization Algorithm for the Intelligent Navigation Control of Autonomous Sailing Robots

Lin Zhou, Kai Chen, Hang Dong, Shukai Chi, Zhen Chen
2020 IEEE Access  
In this study, the track navigation control of an improved mathematical model of a sailing ship is introduced, and the navigation is tested using a downsized prototype of an autonomous sailing robot.  ...  The research results can provide some references and ideas for the autonomous intelligent navigation control design of autonomous sailing robots.  ...  ACKNOWLEDGMENT The authors of this article sincerely acknowledge the help of anonymous reviewers.  ... 
doi:10.1109/access.2020.3047816 fatcat:47urnwkrf5bjrhlsrrg6brsdb4

Design and Implementation of a Control System for a Sailboat Robot

Davi Santos, Andouglas Silva Junior, Alvaro Negreiros, João Vilas Boas, Justo Alvarez, Andre Araujo, Rafael Aroca, Luiz Gonçalves
2016 Robotics  
the control laws of an autonomous sailboat.  ...  This article discusses a control architecture for autonomous sailboat navigation and also presents a sailboat prototype built for experimental validation of the proposed architecture.  ...  Developing a Simple, Effective Controller The problem in focus is to develop a low-level controller to autonomously get the sailboat from an initial point to a target in acceptable time and that can be  ... 
doi:10.3390/robotics5010005 fatcat:eaqxtdxsife6hbwaqd2wmgiyxe

A Simple Controller for Line Following of Sailboats [chapter]

Luc Jaulin, Fabrice Le Bars
2013 Robotic Sailing 2012  
This paper proposes a simple controller for sailboat robots. The resulting controller is simple to implement and its parameters are easy to tune.  ...  The presentation contains all the necessary details to allow a fast and reliable implemention of a sailbot robot controller which follows a line.  ...  for line following of sailboats A simple controller for line following of sailboats A simple controller for line following of sailboats A simple controller for line following of sailboats  ... 
doi:10.1007/978-3-642-33084-1_11 fatcat:6vbmomjqtbbzpcculzyx5vkmo4


2011 Field Robotics  
The contribution of this paper is that for the first time it proposes an approach to control autonomous sailboats without the data from wind sensors (with data from GPS and compass only).  ...  This paper proposes a new control strategy based on Voronoi diagram for autonomous sailboats.  ...  Introduction This paper puts up a new control strategy that is independent of wind sensor data for autonomous sailboats.  ... 
doi:10.1142/9789814374286_0013 fatcat:pnxfy5iohjbvfdxxs6sgna6dxe

High-Level Path Planning for an Autonomous Sailboat Robot Using Q-Learning

Andouglas Gonçalves da Silva Silva Junior, Davi Henrique dos Santos, Alvaro Pinto Fernandes de Negreiros, João Moreno Vilas Boas de Souza Silva, Luiz Marcos Garcia Gonçalves
2020 Sensors  
autonomous sailboat.  ...  Our proposal in this paper is an algorithm for the global, path generation layer, which has been developed for the N-Boat (The Sailboat Robot project), in order to compute feasible sailing routes between  ...  This simple control was enough to follow the generated trajectory without the addition of more complex control strategies. This shows the robustness and feasibility of the route.  ... 
doi:10.3390/s20061550 pmid:32168774 fatcat:lm5jzfsmbzc2fpaqe7zw4cp2wq

Fuzzy control of a sailboat

Jaime Abril, Jaime Salom, Oscar Calvo
1997 International Journal of Approximate Reasoning  
Experiments with a scale prototype show the ability of a fuzzy controller to govern the helm and trim the sails on a sailboat.  ...  Autonomous navigation of sailboats is a very nonlinear and time-variant problem, and modeling'ship dynamics considering all real phenomena is a very complex tas£ Besides, it has to compensate for stochastic  ...  Finally, the governing of a vessel involves other decisions on higher levels, such as determining the course and planning the route.  ... 
doi:10.1016/s0888-613x(96)00132-6 fatcat:zblfeahlnrhjnblwd3plo63yfa

FASt - an autonomous sailing platform for oceanographic missions

Jose C. Alves, Nuno A. Cruz
2008 OCEANS 2008  
This paper presents an autonomous sailing boat developed at the University of Porto, Portugal, with emphasis on the hardware and software computing infrastructure.  ...  Unmanned autonomous sailing boats may exhibit a virtually unlimited autonomy and be able to perform unassisted missions at sea for long periods of time.  ...  ACKNOWLEDGEMENTS The authors would like to thank the Department of Electrical and Computing Engineering (DEEC) of the Faculty of Engineering of the University of Porto, Portugal (FEUP), for the financial  ... 
doi:10.1109/oceans.2008.5152114 fatcat:kt7vhqjixje3hfinsbzmsf4au4

Predictive Course Control and Guidance of Autonomous Unmanned Sailboat Based on Efficient Sampled Gaussian Process

Yuqin Dong, Nailong Wu, Jie Qi, Xinyuan Chen, Chenhua Hua
2021 Journal of Marine Science and Engineering  
To reduce the influence of wind and waves disturbances, an adaptive weight term is designed in the object function to improve the tracking accuracy of the model predictive control.  ...  In view of the vulnerability of ocean unmanned sailboats to the large lateral velocities due to wind and waves during navigation, this paper proposes a Gaussian Process Model Predictive Control (GPMPC)  ...  Conclusions In this paper, the trajectory tracking problem of an unmanned sailboat is studied in terms of both the course control and navigation control.  ... 
doi:10.3390/jmse9121420 fatcat:cqrwjm3wknfgjfsxuko76jwzki
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