NAVIGATION WITH OBSTACLE AVOIDANCE OF AN AUTONOMOUS SAILBOAT

被引：0
|
作者：
Petres, Clement [1 ]
Romero-Ramirez, Miguel-Angel [1 ]
Plumet, Frederic [1 ]
机构：
[1] UPMC Univ Paris 06, ISIR, CNRS UMR 7222, 4 Pl Jussieu, F-75005 Paris, France
来源：
FIELD ROBOTICS | 2012年
关键词：
path planning; obstacle avoidance; potential field; autonomous sailboat;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a reactive path planning and sail trimming method based on potential fields for autonomous sailboat. The originality of our method is to build a local potential around the boat location to take upwind and downwind constraints into account. Simulations, using a boat specific dynamic simulator, show that the proposed method can successfully drive an autonomous sailboat toward a predefined way-point under time varying wind conditions while avoiding obstacles. This method is computationally efficient and is suitable for on-board real-time implementation.
引用
收藏
页码：86 / 93
页数：8
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