On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles. (3rd November 2011)

• Record Type: Journal Article
• Authors: Xiao, Lin; Jouffroy, Jerome
• Other Names: Toker Onur Academic Editor.
• Is Part Of: Journal of control science and engineering. Volume 2011(2011)
• Publication Date: 2011-11-03
• Subjects: Control theory -- Periodicals; 629.831205
• DOI: 10.1155/2011/402017
• Languages: English
• ISSNs: 1687-5249

Abstract

Abstract : Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing vehicles in the plane, that is, automatic path generation combined with computation of control input profiles. Simulations are presented to illustrate the potential of the approach.