Avalon Navigation Strategy and Trajectory Following Controller for an Autonomous Sailing Vessel

被引：35
作者：
Erckens, Hendrik [1 ,2 ]
Buesser, Gion-Andri
Pradalier, Cedric [1 ]
Siegwart, Roland Y. [3 ,4 ]
机构：
[1] CSIRO, Brisbane, Qld, Australia
[2] ETH, Swiss Fed Inst Technol, Autonomous Syst Lab, CH-8092 Zurich, Switzerland
[3] Stanford Univ, Stanford, CA 94305 USA
[4] Swiss Fed Inst Technol, Inst Robot, Zurich, Switzerland
来源：
IEEE ROBOTICS & AUTOMATION MAGAZINE | 2010年 / 17卷 / 01期
关键词：
Autonomous sailboat; robotics; navigation; path planning;
D O I：
10.1109/MRA.2010.935792
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The proposed navigation and control software has been successfully implemented in our autonomous sailboat Avalon. Several short-run tests both on Swiss lakes and on the Atlantic Ocean have been carried out and have shown that the described control and navigation system work. Avalon was exposed to wind conditions ranging from almost zero to 30 kn. The experimentally found control parameters have proven to bewell defined, keeping the vessel on course even while sailing in rough sea states. © 2006 IEEE.
引用
收藏
页码：45 / 54
页数：10
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