%0 Conference Paper
%F Oral 
%T Tight slalom control for sailboat robots
%+ Lab-STICC_ENSTAB_CID_PRASYS
%+ École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)
%A Le Gallic, Maël
%A Tillet, Joris
%A Jaulin, Luc
%A Le Bars, Fabrice
%< avec comité de lecture
%B International Robotic Sailing Conference (IRSC)
%C Southampton, United Kingdom
%8 2018-08-31
%D 2018
%Z Engineering Sciences [physics]/AutomaticConference papers
%X 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.
%G English
%2 https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01867575/document
%2 https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01867575/file/paper_slalom.pdf
%L hal-01867575
%U https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01867575
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%~ INSTITUT-TELECOM
%~ ENSTA-BRETAGNE
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