Abstract : Existing controllers for sailboat robots are usually developed for speed performances and for long straight lines. In this context, the accuracy is not the main concern. In this paper, we consider the tight slalom problem which requires accuracy. We propose a feedback-linearization based method combined with a vector field approach to control the sailboat. Some simulations show that the robot is able to perform the slalom without missing any gate.
https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01867575
Contributeur : Marie Briec <>
Soumis le : mardi 4 septembre 2018 - 14:02:55 Dernière modification le : mercredi 5 août 2020 - 03:45:50 Archivage à long terme le : : mercredi 5 décembre 2018 - 16:10:21
Maël Le Gallic, Joris Tillet, Luc Jaulin, Fabrice Le Bars. Tight slalom control for sailboat robots. International Robotic Sailing Conference (IRSC) , Aug 2018, Southampton, United Kingdom. ⟨hal-01867575⟩