Routing and course control of an autonomous sailboat
| Autor: | Minh-Duc Hua, Hadi Saoud, Frédéric Plumet, Faiz Ben Amar |
|---|---|
| Přispěvatelé: | Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Systèmes robotiques Conception et Commande (SYROCO), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS) |
| Rok vydání: | 2015 |
| Předmět: |
0209 industrial biotechnology
Heading (navigation) 010505 oceanography Computer science 02 engineering and technology Kinematics 01 natural sciences [SPI.AUTO]Engineering Sciences [physics]/Automatic Course (navigation) 020901 industrial engineering & automation Control theory [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Torque Motion planning Routing (electronic design automation) ComputingMilieux_MISCELLANEOUS Smoothing 0105 earth and related environmental sciences |
| Zdroj: | ECMR 2015 European Conference on Mobile Robots (ECMR) European Conference on Mobile Robots (ECMR'15) European Conference on Mobile Robots (ECMR'15), 2015, Lincoln, United Kingdom. ⟨10.1109/ECMR.2015.7324218⟩ |
| DOI: | 10.1109/ecmr.2015.7324218 |
| Popis: | In this paper, we present a layered control scheme for an autonomous sailboat. The high level control uses a custom cost function with a PRM-Dijkstra algorithm for the routing (global path planning) of autonomous sailboat. This algorithm exploits the sailboat kinematics and wind distribution on a map. For the low level control, we design a new nonlinear course (direction of the velocity vector) controller that exhibits superior performance compared to conventionally used heading controller. A smoothing function is also introduced in the design of the controller to switch easily from course control to heading control, especially when course measurements are noisy at low speed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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