Position keeping control of an autonomous sailboat

Viel, Christophe; Vautier, Ulysse; Wan, Jian; Jaulin, Luc

doi:10.1016/j.ifacol.2018.09.462

Cited by 25 publications

(9 citation statements)

References 9 publications

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“…Many control methods can be used to control the rudder and the sail during station keeping as the one proposed in [16]. An advanced station keeping algorithm was studied in [17] and this method does not use any prior knowledge on the dynamic model of the sailboat. A simplified version of this station keeping algorithm is adopted for the experimental studies.…”

Section: B Station Keepingmentioning

confidence: 99%

Experimental Studies of Autonomous Sailing With a Radio Controlled Sailboat

et al. 2022

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Autonomous sailing has attracted many interests from both industry and academy due to its great potential in oceanography, research and education. Worldwide researchers have developed various kinds of unmanned sailboat platforms for their specific research purposes and applications. However, most of these autonomous sailing platforms are rather complex to build and to program. The aim of this study is to propose, to build, and to test a new compact sailboat platform using a unique combination of a 1-m class radio controlled model sailboat, a Raspberry Pi 4, a Navio2, and a Calypso ultrasonic solar-powered anemometer. The proposed new sailboat platform makes full use of the agility of the racing model boat with minimal mechanical adjustments as the system does not use electrical wires to connect with additional sensors and a mechanical anemometer. The software architecture of the proposed new sailboat platform is also simplified as it involves only Python programming for the Raspberry Pi 4. The experimental results have demonstrated the feasibility as well as the functionality of the proposed new sailboat platform to conduct autonomous sailing operations successfully and it could become one of the most accessible, generic and flexible autonomous sailing platforms for advanced research and education in robotics, autonomous systems, and artificial intelligence.

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Section: B Station Keepingmentioning

confidence: 99%

Experimental Studies of Autonomous Sailing With a Radio Controlled Sailboat

et al. 2022

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“…Thus, due to the unpredictable nature of the wind, the control of sailboat position/velocity is difficult or impossible in some scenarios. Theoretically, sailboat acceleration can be managed using the sail with a method like sail control exposed in [29]. However, maximal sailboat deceleration using the sail angle is very limited and it is not enough to perform a platooning.…”

Section: Platooning Controlmentioning

confidence: 99%

Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway

Viel

Vautier

Wan

et al. 2020

IEEE Trans. Intell. Transport. Syst.

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This paper addresses the problem of platooning control for a fleet of heterogeneous sailboats. Platooning maintains a constant time headway (CTH) between sailboats following a circular path, a complex problem for sailboats due to the influence of wind direction. First, the desired acceleration based on the CTH and the sailboat velocity needed to converge to the platooning is defined. Second, a control of sailboat orientation to manage the sailboat acceleration is proposed. The proposed platooning strategy adapts to the specific characteristics of sailboats, which are different from other motorized marine vehicles. Two tack strategies can be used for the method: the first is to regulate the sailboat velocity; the second is to go front the wind, while staying in a short corridor. Desired acceleration for fulfilling the platooning has been derived and validated. Simulation results demonstrate the effectiveness of the proposed approach, with comparison to an optimal receding horizon control algorithm.

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“…3 yields the sail angle with respect to the boat, and is a modification of the expression presented in Refs. [22], [23]). This formulation ensures that the sail flips from one side of the boat to the other when pointing downwind, while in the upwind boat orientation, the function goes through a continuous zero, as wanted.…”

Section: Control and Autonomymentioning

confidence: 99%

SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot

Zufferey

Ancel

Raposo

et al. 2019

IEEE Robot. Autom. Lett.

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Despite significant research progress on smallscale aerial-aquatic robots, most existing prototypes are still constrained by short operation times and limited performance in different fluids. The main challenge is to design a vehicle that satisfies the partially conflicting design requirements for aerial and aquatic operation. In this paper we present a new class of aerial-aquatic robot, the Sailing Micro Air Vehicle, 'SailMAV'. Thanks to a three-part folding wing design, the SailMAV is capable of both flying and sailing. The robot design permits long and targeted missions at the water interface by leveraging the wind as movement vector. It simultaneously offers the flexibility of flight for rapidly reaching a designated area, overcoming obstacles and moving from one body of water to another, which can be very useful for water sampling in areas with many obstacles. With a total wingspan of 0.96 m, the SailMAV employs the same wing and actuation surfaces for sailing as for flying. It is capable of water surface locomotion as well as takeoff and flight at a cruising speed of 10.8 ms −1. The main contributions of this paper are (i) new solutions to the challenges of combined aerial and aquatic locomotion, (ii) the design of a novel hybrid concept, (iii) the development of the required control laws, and (iv) the demonstration of the vehicle successfully sailing and taking off from the water. The presented work can inform the design of hybrid vehicles that adapt their morphology to move effectively.

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Position keeping control of an autonomous sailboat

Cited by 25 publications

References 9 publications

Experimental Studies of Autonomous Sailing With a Radio Controlled Sailboat

Experimental Studies of Autonomous Sailing With a Radio Controlled Sailboat

Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway

SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot

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