Scribd
Upload
52 views1 page

Autonomous Sailboat Navigation

This document provides an overview of the organization of the thesis. It describes that chapters 3 and 4 present the infrastructure developed including detailed descriptions of two robotic sailing boats and a control and communication system. Chapters 5 through 7 present novel contributions, including a method for real-time route optimization using local weather data, an obstacle avoidance algorithm, and a fuzzy inference system for maneuver execution that controls rudder and sails during tacking and jibing. Chapter 8 will discuss the results and how the original aims were met, and evaluate each research question separately.

Uploaded by

jeni1086
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
52 views1 page

Autonomous Sailboat Navigation

This document provides an overview of the organization of the thesis. It describes that chapters 3 and 4 present the infrastructure developed including detailed descriptions of two robotic sailing boats and a control and communication system. Chapters 5 through 7 present novel contributions, including a method for real-time route optimization using local weather data, an obstacle avoidance algorithm, and a fuzzy inference system for maneuver execution that controls rudder and sails during tacking and jibing. Chapter 8 will discuss the results and how the original aims were met, and evaluate each research question separately.

Uploaded by

jeni1086
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 1

1. INTRODUCTION 1.

7 Organisation of the thesis

Chapters 3–4 present the infrastructure, which has been developed as a basis
for further research into robotic sailing techniques:

• Research design (Chapter 3): a detailed description of two robotic sailing


boats is provided. These prototypes have been developed for field experi-
ments in order to evaluate the novel algorithms which are presented later
in this thesis.

• System architecture (Chapter 4): a flexible and reliable control and com-
munication infrastructure for robotic sailing boats is presented. Together it
represents a framework for all areas of autonomous sailing boat navigation.

Chapters 5–7 present the novelties and contributions to knowledge to the field
of robotic sailing in detail. Each of these chapters includes a theoretical descrip-
tion of the proposed approach, an experimental validation, and is concluded by
a discussion of the results:

• Short-course routing (Chapter 5): a novel method for real-time route


optimisation is presented. It relies on locally measured weather data only
and reacts immediately on changing wind conditions.

• Obstacle avoidance (Chapter 6): a reactive approach is presented, which


is an extension to the short course routing method mentioned above. The
algorithm enables an autonomous sailing boat to circumnavigate differently
sized obstacles under various wind conditions successfully.

• Manoeuvre execution (Chapter 7): it is described how basic sailing skills


can be transformed into a Mamdani type fuzzy inference system (FIS). The
proposed system controls both rudder and sails not just on a straight course,
but also during tack and jibe.

Chapter 8 discusses the results and how they have met the original aims. Each
of the research questions is evaluated separately. Results are outlined as are their
limitations. Finally, this chapter gives an outlook to further research in the field
of autonomous sailing.

11

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy