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Toward an Autonomous Sailing Boat.

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Title: Toward an Autonomous Sailing Boat.
Authors: Plumet, Frederic1, Petres, Clement1, Romero-Ramirez, Miguel-Angel1, Gas, Bruno1, Ieng, Sio-Hoi2
Source: IEEE Journal of Oceanic Engineering. Apr2015, Vol. 40 Issue 2, p397-407. 11p.
Subjects: Automated guided vehicle systems, Robotics in oceanography, Solar energy, Software architecture, Omnirange system, Robotic path planning
Abstract: Among autonomous surface vehicles, sailing robotics could be a promising technology for long-term missions and semipersistent presence in the oceans. Autonomy of such vehicles in terms of energy will be achieved by renewable solar and wind power sources. Autonomy in terms of sailing decision will be achieved by innovative perception and navigation modules. The main contribution of this paper is to propose a complete hardware and software architecture for an autonomous sailing robot. The hardware architecture includes a comprehensive set of sensors and actuators as well as a solar panel and a wind turbine. For obstacle detection, a segmentation is performed on data coming from an omnidirectional camera coupled with an inertial measurement unit and a sonar. For navigation and control of the vehicle, a potential-based reactive path-planning approach is proposed. The specific sailboat kinematic constraints are turned into virtual obstacles to compute a feasible and optimal heading in terms of cost of gybe and tack maneuver as well as safety relative to obstacle danger. Finally, field test experiments are presented to validate the various components of the system. [ABSTRACT FROM PUBLISHER]
Copyright of IEEE Journal of Oceanic Engineering is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Engineering Source
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PubType: Academic Journal
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  Data: Among autonomous surface vehicles, sailing robotics could be a promising technology for long-term missions and semipersistent presence in the oceans. Autonomy of such vehicles in terms of energy will be achieved by renewable solar and wind power sources. Autonomy in terms of sailing decision will be achieved by innovative perception and navigation modules. The main contribution of this paper is to propose a complete hardware and software architecture for an autonomous sailing robot. The hardware architecture includes a comprehensive set of sensors and actuators as well as a solar panel and a wind turbine. For obstacle detection, a segmentation is performed on data coming from an omnidirectional camera coupled with an inertial measurement unit and a sonar. For navigation and control of the vehicle, a potential-based reactive path-planning approach is proposed. The specific sailboat kinematic constraints are turned into virtual obstacles to compute a feasible and optimal heading in terms of cost of gybe and tack maneuver as well as safety relative to obstacle danger. Finally, field test experiments are presented to validate the various components of the system. [ABSTRACT FROM PUBLISHER]
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  Data: <i>Copyright of IEEE Journal of Oceanic Engineering is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1109/JOE.2014.2321714
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        Text: English
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        PageCount: 11
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      – SubjectFull: Automated guided vehicle systems
        Type: general
      – SubjectFull: Robotics in oceanography
        Type: general
      – SubjectFull: Solar energy
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      – SubjectFull: Software architecture
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      – SubjectFull: Omnirange system
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      – SubjectFull: Robotic path planning
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              Text: Apr2015
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