Evolutionary-Fuzzy System of Safe Ship Steering in a Collision Situation at Sea
CIMCA '05 Proceedings of the International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce Vol-1 (CIMCA-IAWTIC'06) - Volume 01
Modeling of ship trajectory in collision situations by anevolutionary algorithm
IEEE Transactions on Evolutionary Computation
A markov decision process model for strategic decision making in sailboat racing
Canadian AI'11 Proceedings of the 24th Canadian conference on Advances in artificial intelligence
On motion planning for point-to-point maneuvers for a class of sailing vehicles
Journal of Control Science and Engineering
Robotics and Autonomous Systems
A potential field approach for reactive navigation of autonomous sailboats
Robotics and Autonomous Systems
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The paper presents a compact method to calculate a suitable route for a sailboat in order to reach any specified target. The calculation is based on the optimisation of the time derivative of the distance between boat and target and features a hysteresis condition, which is of particular importance for beating to windward. The algorithm provides an answer to the perennial question when to tack on upwind courses. Further, it immediately adapts to varying wind conditions. The resulting routes for different conditions are analysed on the basis of a simulation featuring a mathematical boat model. Experiments have been carried out using an unmanned and autonomously controlled sailboat. The navigated route agrees well with the simulation results.