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Robotics and Autonomous Systems > 2008 > 56 > 7 > 604-614
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Roland Stelzer
- Austrian Association for Innovative Computer Science, Kampstraße 15/1, A-1200 Vienna, Austria
- De Montfort University, Centre for Computational Intelligence, The Gateway, GB - Leicester LE1 9BH, United Kingdom
Tobias Pröll
Autonomous sailing Route optimisation Sailboat navigation Optimum beating Leeway drift compensation
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Robotic Sailing pp 195–204 Cite as
A Rule-Based Approach to Long-Term Routing for Autonomous Sailboats
- Johannes Langbein 3 ,
- Roland Stelzer 4 &
- Thom Frühwirth 3
- Conference paper
1033 Accesses
12 Citations
We present an algorithm for long-term routing of autonomous sailboats with an application to the ASV Roboat. It is based on the A*-algorithm and incorporates changing weather conditions by dynamically adapting the underlying routing graph. We implemented our algorithm in the declarative rule-based programing language Constraint Handling Rules (CHR) [4]. A comparison with existing commercial applications yields considerably shorter computation times for our implementation. It works with real-life wind forecasts, takes individual parameters of the sailboat into account, and provides a graphical user interface.
- Optimal Route
- Polar Diagram
- Ensemble Forecast
- Optimum Track
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Stelzer, R., Pröll, T.: Autonomous Sailboat Navigation for Short Course Racing. Robotics and Autonomous Systems 56(7), 604–614 (2008)
Stentz, A.: Optimal and efficient path planning for unknown and dynamic environments. International Journal of Robotics and Automation 10(3), 89–100 (1993)
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Faculty of Engineering and Computer Science, Ulm University, Germany
Johannes Langbein & Thom Frühwirth
Austrian Society for Innovative Computer Sciences, INNOC, Vienna, Austria
Roland Stelzer
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Institute for Robotics and Cognitive Systems, University of Luebeck, Ratzeburger Allee 160, 23538, Lübeck, Germany
Alexander Schlaefer
Fachbereich Elektrotechnik und Informatik, University of Applied Sciences Luebeck, Mönkhofer Weg 239, 23562, Lübeck, Germany
Ole Blaurock
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Langbein, J., Stelzer, R., Frühwirth, T. (2011). A Rule-Based Approach to Long-Term Routing for Autonomous Sailboats. In: Schlaefer, A., Blaurock, O. (eds) Robotic Sailing. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22836-0_14
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5. Conclusions. Autonomous sailboat navigation in real world conditions can be implemented in a first approach with the aim of imitating the behaviour of a human sailor. In the present work, a technique is presented to determine suitable boat headings in order to reach any target.
Stelzer [8] designed the autonomous sailboat control algorithm for short course racing based on a polar diagram [10] [11], which represents the maximal boat speed based on the wind speed and the ...
Journal of Navigation. v41. 101-114. Google Scholar [3] R. Stelzer, T. Proell, R.I. John, Fuzzy logic control system for autonomous sailboats, in: Proceedings of IEEE International Conference in Fuzzy Systems, FUZZ-IEEE 2007, 2007 Google Scholar Cross Ref [4] Thornton, T., A review of weather routeing of sailboats. Journal of Navigation. v46 ...
Engineering. 2013. TLDR. This dissertation presents a fuzzy logic controller for autonomous sailboats based on a proposed set of sensors, namely a GPS receiver, a weather meter and an electronic compass, capable of operation in a low cost platform such as an Arduino prototyping board. 2.
Buy Autonomous Sailboat Navigation for Short Course Racing: Read Kindle Store Reviews - Amazon.com Amazon.com: Autonomous Sailboat Navigation for Short Course Racing eBook : Freidus, Eli : Kindle Store
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 ...
[35] Stelzer, R. and Pröll, T., Autonomous sailboat navigation for short course racing. Robotics and Autonomous Systems. v56 i7. 604-614. Google Scholar [36] M. Romero Ramirez, C. Petres, F. Plumet, Navigation with obstacle avoidance of an autonomous sailboat, in: International Conference on Climbing and Walking Robots and the Support ...
Autonomous Sailboat Navigation for Short Course Racing eBook : Freidus, Eli : Amazon.com.au: Kindle Store. Skip to main content.com.au. Delivering to Sydney 1171 To change, sign in or enter a postcode Kindle Store. Select the department you want to search in. Search Amazon.com.au. EN. Hello, sign in. Account ...
Autonomous sailboat navigation for short course racing. Robotics and Autonomous Systems, 56 (7), 604 ... Adaptive neural fault-tolerant control for course tracking of unmanned surface vehicle with event-triggered input. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 235, Issue. 9 ...
select article Autonomous sailboat navigation for short course racing. ... Autonomous sailboat navigation for short course racing. Roland Stelzer, Tobias Pröll. Pages 604-614 View PDF. Article preview. select article Path planning for laser scanning with an industrial robot.
Stelzer, R., Pröll, T.: Autonomous Sailboat Navigation for Short Course Racing. Robotics and Autonomous Systems 56(7), 604-614 (2008) Article Google Scholar Stentz, A.: Optimal and efficient path planning for unknown and dynamic environments. International Journal of Robotics and Automation 10(3), 89-100 (1993)
Conclusions. Autonomous sailboat navigation in real world conditions can be implemented in a first approach with the aim of imitating the behaviour of a human sailor. In the present work, a technique is presented to determine suitable boat headings in order to reach any target. The method works without knowledge of future weather conditions.
Autonomous sailboat navigation. Novel methods for weather routing, collision avoidance, and autonomous manoeuvre execution have been proposed and successfully demonstrated and the combination of these techniques in a layered hybrid subsumption architecture make robotic sailing boats a promising tool for many applications, especially in ocean ...
This work proposes a short-term path planning method for autonomous sailboats that is capable of dealing with upwind situations and uses the distance ranges available for the maneuvering and the sailboat desired heading to generate points in-between, which are reachable given the wind restriction. 6. PDF.
, " A Rrule-based Approach to Long-Term Routing for Autonomous Sailboats," In: Proceedings of 4th International Robotic Sailing Conference, Lübeck, Germany (2011) pp. 195 - 204. Google Scholar [5]
As a case study, we use the FASt vehicle, a 2.5 m long robotic sailing boat capable of fully autonomous navigation through a set of predefined marks. Experimental results show the performance of ...
The development of a navigation system for autonomous robotic sailing is a particularly challenging task since the sailboat robot uses unpredictable wind forces for its propulsion besides working in a highly nonlinear and harsh environment, the water.
Autonomous sailboat navigation for short course racing. Robotics and Autonomous Systems , 56 ( 7 ), 604 - 614 . doi: 10.1016/j.robot.2007.10.004 . CrossRef Google Scholar
Highlights. We propose a novel reactive navigation technique for autonomous sailboats. Our navigation approach is based on artificial potential fields. The specific sailboat kinematics is integrated into a local potential field built around the robot location. Our method has been tested in simulation and has been validated on a lake using a ...
[29] Stelzer R S and Proll T J 2008 Autonomous sailboat navigation for short course racing Robotics and Autonomous Systems vol 56 pp 604-614 [30] Yang S L D 2013 Study on Autonomous Sa iling Boat ...
Simulations show that the proposed reactive path planning and sail trimming method can successfully drive an autonomous sailboat toward a predefined way-point under time varying wind conditions while avoiding obstacles. 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 ...
The functionality, the validation process and the performance of a simple controller, inspired by what navigators do, is described, through tests made on the sailboat robot VAIMOS built by IFREMER for oceanography. A sailboat is a strongly non-linear system that has, however, been proven to be easily controllable. Indeed, its mechanical design has been evolved over thousands of years with two ...
An algorithm for long-term routing of autonomous sailboats with an application to the ASV Roboat is presented, based on the A*-algorithm and incorporates changing weather conditions by dynamically adapting the underlying routing graph. We present an algorithm for long-term routing of autonomous sailboats with an application to the ASV Roboat. It is based on the A*-algorithm and incorporates ...