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AEOLUS, the ETH Autonomous Model Sailboat


J. Wirz, M. Tranzatto, A. Liniger, M. Colombino, H. Hesse, S. Grammatico

International Robotic Sailing Conference, Mariehamn, Åland, pp. 103-112

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.


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R. S. Smith

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% 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},
    address={Mariehamn, Åland},
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