A wind-independent control strategy for autonomous sailboats based on Voronoi diagram. - ENSTA Bretagne - École nationale supérieure de techniques avancées Bretagne Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

A wind-independent control strategy for autonomous sailboats based on Voronoi diagram.

Résumé

This paper proposes a new control strategy based on Voronoi diagram for autonomous sailboats. This strategy applies the method of Voronoi diagram to decompose the space and uses a lookup table to make the boat sail as planned. The contribution of this paper is that for the rst time it proposes an approach to control autonomous sailboats without the data from wind sensors (with data from GPS and compass only). Since the sensor for detecting wind direction can break down at any time, this new strategy, independent of wind direction, is much more reliable. A simulation is proposed to illustrate the principle and the e ectiveness of the approach. Two real experiments on buggy and sailboat are also performed for validation.
Fichier principal
Vignette du fichier
p109_paper_139.pdf (1.79 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00628434 , version 1 (03-10-2011)

Identifiants

  • HAL Id : hal-00628434 , version 1

Citer

K. Xiao, Jan Sliwka, Luc Jaulin. A wind-independent control strategy for autonomous sailboats based on Voronoi diagram.. CLAWAR 2011, Sep 2011, France. pp.109-123. ⟨hal-00628434⟩
443 Consultations
632 Téléchargements

Partager

Gmail Facebook X LinkedIn More