AEOLUS, the ETH Autonomous Model Sailboat
| Author(s): J. Wirz, M. Tranzatto, A. Liniger, M. Colombino, H. Hesse, S. Grammatico |
Conference/Journal: International Robotic Sailing Conference, Mariehamn, Åland, pp. 103-112 |
| Abstract: Path planning and control are particularly challenging tasks for a sailboat. In contrast to land vehicles or motorboats, the movement of a sailboat is heavily restricted by the wind direction. This paper focuses on the low-level control acting on the rudder and the sails. Specifically, a standard proportional controller and a non-linear controller have been implemented to track a reference heading. Further, special control algorithms that are activated during a tack or a jibe perform fast and smooth maneuvers. The path planner is based on the minimization of the weighted sum of different cost functions and allows for multi-objective optimization of the boat trajectory such as obstacle avoidance, time-to-target minimization and tactical behaviors. | Year: 2015 |
| Type of Publication: (01)Article | |
| Supervisor: R. S. Smith | |
% Autogenerated BibTeX entry
@InProceedings { WirEtal:2015:IFA_5204,
author={J. Wirz and M. Tranzatto and A. Liniger and M. Colombino and H. Hesse and S. Grammatico},
title={{AEOLUS, the ETH Autonomous Model Sailboat}},
booktitle={International Robotic Sailing Conference},
pages={103--112},
year={2015},
address={Mariehamn, Åland},
month=aug,
url={https://old.control.ee.ethz.ch/index.cgi?page=publications;action=details;id=5204}
} | |