On path generation and feedforward control for a class of surface sailing vessels

Lin Xiao, Jerome Jouffroy

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


Sailing vessels with wind as their main means of propulsion
possess a unique property that the paths they take
depend on the wind direction, which, in the literature,
has attracted less attention than normal vehicles propelled
by propellers or thrusters. This paper considers
the problem of motion planning and controllability for
sailing vehicles representing the no-sailing zone effect
in sailing. Following our previous work, we present
an extended algorithm for automatic path generation
with a prescribed initial heading for a simple model
of sailing vehicles, together with a feedforward controller
guiding these vessels along desired trajectories
of bounded curvatures. Further, this method immediately
adapts to varying wind conditions. Simulation results
are hereby presented to illustrate the approach.
Original languageEnglish
Title of host publication55th International Scientific Colloquium (IWK)
Number of pages6
Publication date2010
ISBN (Print)978-3-938843-53-6
Publication statusPublished - 2010


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