Line following for an autonomous sailboat using potential fields method
作者： Frederic Plumet , Hadi Saoud , Minh-Duc Hua
DOI: 10.1109/OCEANS-BERGEN.2013.6607961
关键词:
摘要: Artificial potential fields method is a widely used algorithm for path planning of autonomous terrestrial robots. In this paper, applied the local an sailboat robot. Environment and specific navigation constraints (upwind downwind no-go zones) are represented by potentials built around boat location periodically updated to take into account changes wind direction obstacles' position. A line sight (LOS) based guarantee that vehicle stays inside band direct route between two consecutive way points. new repulsive with speed-dependent component also presented in order get smoother obstacle avoidance trajectories.
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