Online optimization of different objectives in robotic sailing: Simulations and experiments

Wrede, Daniel; Adam, Jost; Jouffroy, Jérôme

doi:10.1109/cca.2015.7320728

Cited by 4 publications

(4 citation statements)

References 10 publications

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“…To gain the competitive edge in such races, many skippers and helmsmen use one or more software packages, web applications, or routing services that utilize the observed and forecasted meteorology and oceanography and accordingly route the sailing vessel to complete the course in the shortest possible time. The problem is well suited for dynamic programming [2], [3], [4], [5], [6] and has more recently been viewed in the context of autonomous robot sailing [7], [8], [9], [10], [11], [12]. In most published approaches, the ocean's currents are either not addressed, deemed negligible, or are vaguely incorporated, but the impact is neither explicitly nor directly integrated into the optimization.…”

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confidence: 99%

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confidence: 99%

“…In the autonomous robot sailing literature, current is often neglected entirely with the exception of [10], [11], and [12]. Wrede et al [10] use velocity made good (VMG) and heel angle to optimize objectives pertaining to a four-degree-of-freedom robot sailing model. They utilize a hill-climbing algorithm that takes into account the measurements of drift from currents, but do not use the current forecast information explicitly.…”

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confidence: 99%

“…The specifications of the boat are as follows: overall length, 35'11", draft 7'2", sail area 655 ft 2 , and displacement/ballast 12 800/3750 lb 10. For a practical problem, a higher density graph would be needed.…”

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confidence: 99%

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Minimum Time Sailing Boat Path Algorithm

Sidoti¹,

Pattipati

Bar‐Shalom

2023

IEEE J. Oceanic Eng.

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An iterative procedure to solve the nonlinear problem of fastest-path sailing vessel routing in an environment with variable winds and currents is proposed. In the routing of a sailing vessel, the primary control variable is the pointing (heading) of the vessel (assuming that the sails are chosen and trimmed optimally). Sailing vessel routing is highly nonlinear when considering environmental factors, such as winds and currents, and the behavior of the boat, given the weather conditions (i.e., polar diagrams that predict how fast one can sail, given the vessel's pointing relative to the true wind and the wind speed). The key algorithmic contribution of this article is a fastest-path algorithm for graphs with nonconvex edge costs that depend on weather, current, and boat polars. An illustrative scenario, with idealized weather attributes, and a real-world scenario, with parameters generated by numerical weather and current prediction models, are simulated and tested to compare the proposed algorithm against open-source routing software validated by active sailors. Preliminary results from the simulation setups tested are as follows: 1) the proposed sailing boat path algorithm is comparable to the open-source software available; and 2) exploiting the often unused but significant impactor of surface currents and incorporating leeway into sailing boat path planning enables higher fidelity guidance and faster (i.e., shorter time) routes, in comparing against the freely available baseline.

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