Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control\r\ncommunity. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels\r\nin one dimension, this paper first considers their associated controllability issues, with the so-called no-sailing zone as a starting\r\npoint, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool.\r\nThis perspective is then expanded to do point-to-point maneuvers of sailing vehicles in the plane, that is, automatic path generation\r\ncombined with computation of control input profiles. Simulations are presented to illustrate the potential of the approach.
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