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Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway

Christophe Viel 1 Ulysse Vautier 1 Jian Wan 1 Luc Jaulin 2
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : This paper addresses the problem of platooning control for a fleet of heterogeneous sailboats. The platooning maintains a constant time headway (CTH) between sailboats following a circular path, a complex problem for sailboats due to the influence of wind direction. First, the desired acceleration based on the CTH and the sailboat velocity needed to converge to the platooning is defined. Second, a control of sailboat orientation to manage the sailboat acceleration is proposed. The proposed platooning strategy adapts to the specific characteristics of sailboats, which are different from other motorized marine vehicles. Two tack strategies can be used for the method: the first is to regulate the sailboat velocity; the second is to go front of the wind while staying in a short corridor. The desired acceleration for fulfilling the platooning has been derived and validated. The simulation results demonstrate the effectiveness of the proposed approach in comparison with an optimal receding horizon control algorithm.
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Soumis le : vendredi 10 mai 2019 - 09:57:47
Dernière modification le : mercredi 5 août 2020 - 03:41:25

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Christophe Viel, Ulysse Vautier, Jian Wan, Luc Jaulin. Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway. IEEE Transactions on Intelligent Transportation Systems, IEEE, 2020, 21 (5), pp.2078-2089. ⟨10.1109/TITS.2019.2912389⟩. ⟨hal-02125051⟩



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