AEOLUS, the ETH Autonomous Model Sailboat

Wirz, J., Tranzatto, M., Liniger, A., Colombino, M., Hesse, H. and Grammatico, S. (2015) AEOLUS, the ETH Autonomous Model Sailboat. In: 8th International Robotic Sailing Conference, Mariehamn, Åland (Finland), 31 Aug - 4 Sept 2015, pp. 103-112. ISBN 9783319233352 (doi:10.1007/978-3-319-23335-2_8)

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Abstract

Path planning and control are particularly challenging tasks for a sailboat. In contrast to land vehicles or motorboats, the movement of a sailboat is heavily restricted by the wind direction. This paper focuses on the low-level control acting on the rudder and the sails. Specifically, a standard proportional controller and a non-linear controller have been implemented to track a reference heading. Further, special control algorithms that are activated during a tack or a jibe perform fast and smooth maneuvers. The path planner is based on the minimization of the weighted sum of different cost functions and allows for multi-objective optimization of the boat trajectory such as obstacle avoidance, time-to-target minimization and tactical behaviors.

Item Type:Conference Proceedings
Keywords:Artificial Intelligence (incl. Robotics), Robotics and Automation
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Hesse, Dr Henrik
Authors: Wirz, J., Tranzatto, M., Liniger, A., Colombino, M., Hesse, H., and Grammatico, S.
College/School:College of Science and Engineering > School of Engineering > Aerospace Sciences
ISBN:9783319233352

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