Routing and course control of an autonomous sailboat

被引：0
|
作者：
Saoud, Hadi [1 ,2 ]
Hua, Minh-Duc [1 ,2 ]
Plumet, Frederic [2 ,3 ]
Ben Amar, Faiz [1 ,2 ]
机构：
[1] Univ Paris 06, Sorbonne Univ, UMR 7222, ISIR, F-75005 Paris, France
[2] CNRS, UMR 7222, ISIR, F-75005 Paris, France
[3] Univ Versailles St Quentin, UMR 7222, ISIR, F-75005 Paris, France
来源：
2015 EUROPEAN CONFERENCE ON MOBILE ROBOTS (ECMR) | 2015年
关键词：
NAVIGATION;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
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页数：6
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