NAVIGATION WITH OBSTACLE AVOIDANCE OF AN AUTONOMOUS SAILBOAT

被引：0
|
作者：
Petres, Clement [1 ]
Romero-Ramirez, Miguel-Angel [1 ]
Plumet, Frederic [1 ]
机构：
[1] UPMC Univ Paris 06, ISIR, CNRS UMR 7222, 4 Pl Jussieu, F-75005 Paris, France
来源：
FIELD ROBOTICS | 2012年
关键词：
path planning; obstacle avoidance; potential field; autonomous sailboat;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a reactive path planning and sail trimming method based on potential fields for autonomous sailboat. The originality of our method is to build a local potential around the boat location to take upwind and downwind constraints into account. Simulations, using a boat specific dynamic simulator, show that the proposed method can successfully drive an autonomous sailboat toward a predefined way-point under time varying wind conditions while avoiding obstacles. This method is computationally efficient and is suitable for on-board real-time implementation.
引用
收藏
页码：86 / 93
页数：8
相关论文
共 50 条
  • [1] Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat
    Paiva, Pedro
    Gomes, Luis
    [J]. 2023 IEEE 2ND INDUSTRIAL ELECTRONICS SOCIETY ANNUAL ON-LINE CONFERENCE, ONCON, 2023,
  • [2] Obstacle Avoidance and Navigation of Autonomous Mobile Robot
    Raja, Rekha
    Shome, S. N.
    Nandy, S.
    Ray, R.
    [J]. MEMS, NANO AND SMART SYSTEMS, PTS 1-6, 2012, 403-408 : 4633 - +
  • [3] Autonomous Navigation and Obstacle Avoidance of a Micro-bus
    Fernandez, Carlos
    Dominguez, Raul
    Fernandez-Llorca, David
    Alonso, Javier
    Sotelo, Miguel A.
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
  • [4] Improved Obstacle Avoidance and Navigation for an Autonomous Ground Vehicle
    Giri, Binod
    Cho, Hyunsu
    Williams, Benjamin C.
    Tann, Hokchhay
    Shakya, Bicky
    Bharam, Vishal
    Ahlgren, David J.
    [J]. INTELLIGENT ROBOTS AND COMPUTER VISION XXXII: ALGORITHMS AND TECHNIQUES, 2015, 9406
  • [5] Autonomous navigation and obstacle avoidance for unmanned surface vehicles
    Larson, Jacoby
    Bruch, Michael
    Ebken, John
    [J]. UNMANNED SYSTEMS TECHNOLOGY VIII, PTS 1 AND 2, 2006, 6230
  • [6] An Improved APFM for Autonomous Navigation and Obstacle Avoidance of USVs
    Zhu, Xiaohui
    Yue, Yong
    Ding, Hao
    Wu, Shunda
    Li, MingSheng
    Hu, Yawei
    [J]. ICINCO: PROCEEDINGS OF THE 16TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2019, : 401 - 408
  • [7] Modeling and reactive navigation of an autonomous sailboat
    Petres, Clement
    Romero-Ramirez, Miguel-Angel
    Plumet, Frederic
    Alessandrini, Bertrand
    [J]. 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011, : 3571 - 3576
  • [8] Collision Avoidance System for an Autonomous Sailboat
    Esteves, Joao
    Gomes, Luis
    Costa, Aniko
    [J]. IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2017, : 3539 - 3544
  • [9] Control Scheme for Obstacle Avoidance Navigation of Autonomous Mobile Robots
    Choi, Youn-Ho
    Lee, Dong-Ha
    [J]. 2014 17TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS), 2014, : 2256 - 2259
  • [10] Obstacle Avoidance-Based Autonomous Navigation of a Quadrotor System
    Alanezi, Mohammed A.
    Haruna, Zaharuddeen
    Sha'aban, Yusuf A.
    Bouchekara, Houssem R. E. H.
    Nahas, Mouaaz
    Shahriar, Mohammad S.
    [J]. DRONES, 2022, 6 (10)
12345