Optimal sail angle computation for an autonomous sailboat robot

Saoud, Hadi; Hua, Minh‐Duc; Plumet, Frédéric; Amar, Faïz Ben

doi:10.1109/cdc.2015.7402329

Cited by 13 publications

(5 citation statements)

References 15 publications

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“…In each scenario, we assumed a 36-ft fast cruising boat, specifically a Beneteau First 36.7-Racing Keel, 9 with behavior and speeds, as detailed in [21], where, given the wind speed and the magnitude of the true wind angle relative to the centerline of the vessel, a table lookup scheme was available and input to the software discussed in [19] to obtain the vessel's speed in the water versus the apparent wind and the corresponding leeway as part of the iterative procedure in Table III. Details regarding the tabulated functions for the vessel's speed and leeway for a true wind speed at various true wind angles are summarized in Appendix A-B.…”

Section: Simulation Setupmentioning

confidence: 99%

“…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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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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Section: Simulation Setupmentioning

confidence: 99%

mentioning

confidence: 99%

Minimum Time Sailing Boat Path Algorithm

Sidoti¹,

Pattipati

Bar‐Shalom

2023

IEEE J. Oceanic Eng.

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“…In order to verify the effectiveness of the designed algorithm, the optimal speed strategy in 10 is compared. The simulation results are shown in Figures 6 –13.…”

Section: Simulationmentioning

confidence: 99%

“…When studying sail control, most researchers are committed to maximizing ship speed. 10,11 However, higher speeds will reduce the stability of unmanned sailboats and even cause damage to the hull. At the same time, unmanned sailboats have specific requirements for speed when performing certain tasks.…”

Section: Introductionmentioning

confidence: 99%

Dynamic surface event-triggered control for unmanned sailboat path following based on adaptive tanh line-of-sight

Shen

Zhang

Liu

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, a dynamic surface control algorithm based on the adaptive tanh line-of-sight with speed adjustment is proposed to solve the problem of path-following control of unmanned sailboat with event-triggered input, considering the dynamic model uncertainty and unknown external disturbance. First, the adaptive tanh line-of-sight method is used to improve the following accuracy and robustness, then an extended state observer is used to estimate the external disturbance and the uncertainty of the internal model, the heading error and the yaw angular velocity error are considered to design the recursive sliding mode dynamic surface controller, at the same time, the speed of the unmanned sailboat is constrained to improve its stability. In addition, to reduce the action frequency of the steering gear, the relative threshold event-triggered control is applied to the controller. According to the Lyapunov stability analysis, it is proved that the proposed control scheme can ensure that all errors in the closed-loop system are semi-globally consistent and ultimately bounded, while the Zeno behavior can be avoided. Finally, the effectiveness of the proposed scheme is verified by simulation and comparative experiments.

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“…At the same time, scholars have also conducted a series of research studies on the formulation of reasonable sailing strategies and the optimisation of speed. Based on the numerical simulation, Saoud et al (2015b) calculated the optimal sail angle, which makes the sailing speed at the maximum. Herrero et al (2010) took the 3-DOF mathematical model of a ship as the study object, and the sailing speed was optimised based on Quantified Set Inversion technology.…”

Section: Introductionmentioning

confidence: 99%

A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation

Shen

Fan

et al. 2021

J. Navigation

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This paper proposes a novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control (SMESC) without steady-state oscillation. In the sailing speed optimisation scheme, an initial sail angle of attack is first computed by a piecewise constant function in the feed forward block, which ensures a small deviation between sailing speed and the maximum speed. Second, the sailing speed approaches to maximum gradually by extremum search control (ESC) in the feedback block. In SMESC without steady-state oscillation, a switching law is designed to carry out the control transformation, so that the speed optimisation system carries out SMESC in the first convergence phase and ESC without steady-state oscillation in the second stability phase. This scheme combines the advantages of both control algorithms to maintain a faster convergence rate and to eliminate steady-state oscillation. Furthermore, the strict stability of the speed optimisation system is proved in this paper. Finally, we test a 12-m mathematical model of an unmanned sailboat in the simulation to demonstrate the effectiveness and robustness of this speed optimisation scheme.

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Optimal sail angle computation for an autonomous sailboat robot

Cited by 13 publications

References 15 publications

Minimum Time Sailing Boat Path Algorithm

Minimum Time Sailing Boat Path Algorithm

Dynamic surface event-triggered control for unmanned sailboat path following based on adaptive tanh line-of-sight

A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation

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