IBOAT: An autonomous robot for long-term offshore operation

Brière, Yves

doi:10.1109/melcon.2008.4618455

Cited by 25 publications

(19 citation statements)

References 3 publications

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“…The current state-space representation of the sailboat is given by equations (14) and (18). Finally, t is the vector with the resulting propulsive forces of the sailboat given by equation 19 The simulator has a state equation structure, and the sailboat state vector is given by ½x; y; ; q; u; v; p; r. Its processing flow is composed by a heading control, a sailboat model, itself, and by some user interface, a graphical component.…”

Section: Sailboat Dynamics and Kinematics (With A 4-dof Simulator)mentioning

confidence: 99%

A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot

Santos

Gonçalves

2019

International Journal of Advanced Robotic Systems

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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. Toward solving the problems that appear in this kind of environment, we propose a navigation system which allows the sailboat to reach any desired target points in its working environment. This navigation system consists of a low-level heading controller and a short-term path planner for situations against the wind. For the low-level heading controller, a gain-scheduling proportional-integral (GS-PI) controller is shown to better describe the nonlinearities inherent to the sailboat movement. The gain-scheduling-PI consists of a table that contains the best control parameters that are learned/ defined for a particular maneuver and perform the scheduling according to each situation. The idea is to design specialized controllers which meet the specific control objectives of each application. For achieving short-term path-planned targets, a new approach for optimization of the tacking maneuvering to reach targets against the wind is also proposed. This method takes into account two tacking parameters: the side distance available for the maneuvering and the desired sailboat heading when tacking. An optimization method based on genetic algorithm is used in order to find satisfactory upwind paths. Results of various experiments verify the validity and robustness of the developed methods and navigation system.

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Section: Sailboat Dynamics and Kinematics (With A 4-dof Simulator)mentioning

confidence: 99%

A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot

Santos

Gonçalves

2019

International Journal of Advanced Robotic Systems

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“…It is designed to be fast and precise and relies on a robust control software based on fuzzy logic both for the rudder and sail control. The IBoat project [14], also designed to run the Microtransat challenge, uses a fuzzy controller [15], both for the rudder and sail control. The Fast [10] project comes out with a robotic sailboat developed by the researchers of the Porto Engineering University.…”

Section: Related Workmentioning

confidence: 99%

Design and Implementation of a Control System for a Sailboat Robot

et al. 2016

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This article discusses a control architecture for autonomous sailboat navigation and also presents a sailboat prototype built for experimental validation of the proposed architecture. The main goal is to allow long endurance autonomous missions, such as ocean monitoring. As the system propulsion relies on wind forces instead of motors, sailboat techniques are introduced and discussed, including the needed sensors, actuators and control laws. Mathematical modeling of the sailboat, as well as control strategies developed using PID and fuzzy controllers to control the sail and the rudder are also presented. Furthermore, we also present a study of the hardware architecture that enables the system overall performance to be increased. The sailboat movement can be planned through predetermined geographical way-points provided by a base station. Simulated and experimental results are presented to validate the control architecture, including tests performed on a lake. Underwater robotics can rely on such a platform by using it as a basis vessel, where autonomous charging of unmanned vehicles could be done or else as a relay surface base station for transmitting data.

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“…As mentioned in Fossen [1995], and the references inside, the precise modeling is an difficult task due to fluidsolid interactions and do not answer to the robotician need which is a macroscopic model. In the literature, one can found various analytic models for sailboats control as Yeh and Binx [1992], Elkaim [2009], Briere [2008], Cruz and Alves [2010] but a simple state space representation has been chosen; it is based on Lagrangian Mechanics proposed in Jaulin [2004] with smooth modifications. The model equations are described in a section dedicated to modeling.…”

Section: Gnc (Guidance Nagigation Control) Simulation Experimentamentioning

confidence: 99%

Control Algorithms for a Sailboat Robot with a Sea Experiment

Clément

2013

IFAC Proceedings Volumes

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A sailboat robot is a highly nonlinear system but which control is relatively easy, however. Indeed, its mechanical design is the result of an evolution over thousands of years. This paper focuses on a control strategy which remains simple, with few parameters to adjust and meaningful with respect to the intuition. A test on the sailboat robot called Vaimos is presented to illustrate the performance of the regulator with a sea experiment. Moreover, the HardWare In the Loop (HWIL) methodology has been used for the validation of the embedded system. Last point is that this HWIL simulation compared to the real experiment is also a confirmation that the dynamic model used for control is correct.

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IBOAT: An autonomous robot for long-term offshore operation

Cited by 25 publications

References 3 publications

A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot

A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot

Design and Implementation of a Control System for a Sailboat Robot

Control Algorithms for a Sailboat Robot with a Sea Experiment

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