Design and Implementation of a Control System for a Sailboat Robot
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 rel...
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Published in | Robotics (Basel) Vol. 5; no. 1; p. 5 |
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Main Authors | , , , , , , , |
Format | Journal Article |
Language | English |
Published |
MDPI AG
01.03.2016
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Subjects | |
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Abstract | 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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AbstractList | 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. |
Author | Negreiros, Alvaro Santos, Davi Alvarez, Justo Vilas Boas, João Silva Junior, Andouglas Araujo, Andre Gonçalves, Luiz Aroca, Rafael |
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CitedBy_id | crossref_primary_10_1007_s11554_019_00895_6 crossref_primary_10_3390_s16081226 crossref_primary_10_1016_j_oceaneng_2023_113860 crossref_primary_10_3390_app11178046 crossref_primary_10_3390_s19051068 crossref_primary_10_1002_er_4371 crossref_primary_10_3390_s20061550 crossref_primary_10_3390_jmse11122387 crossref_primary_10_1007_s11071_022_07763_2 crossref_primary_10_1109_JIOT_2023_3324525 crossref_primary_10_3390_s19030702 crossref_primary_10_1109_TCST_2019_2955059 crossref_primary_10_3390_robotics7010002 crossref_primary_10_1016_j_oceaneng_2023_114879 crossref_primary_10_1007_s12555_018_0291_7 crossref_primary_10_1016_j_oceaneng_2022_110702 |
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Title | Design and Implementation of a Control System for a Sailboat Robot |
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