Tight slalom control for sailboat robots

Maël Le Gallic (1) , Joris Tillet (2) , Luc Jaulin (1) , Fabrice Le Bars (1)

1 Lab-STICC_ENSTAB_CID_PRASYS
2 ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne

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.

Domaines: Automatique / Robotique

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⟩