On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles
Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first considers...
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/402017 |
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| _version_ | 1832566631627227136 |
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| author | Lin Xiao Jerome Jouffroy |
| author_facet | Lin Xiao Jerome Jouffroy |
| author_sort | Lin Xiao |
| collection | DOAJ |
| description | Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing vehicles in the plane, that is, automatic path generation combined with computation of control input profiles. Simulations are presented to illustrate the potential of the approach. |
| format | Article |
| id | doaj-art-a49a1454d6714f749044b27dfa2d233f |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-a49a1454d6714f749044b27dfa2d233f2025-02-03T01:03:36ZengWileyJournal of Control Science and Engineering1687-52491687-52572011-01-01201110.1155/2011/402017402017On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing VehiclesLin Xiao0Jerome Jouffroy1Mads Clausen Institute, University of Southern Denmark (SDU), Alsion 2, 6400 Sønderborg, DenmarkMads Clausen Institute, University of Southern Denmark (SDU), Alsion 2, 6400 Sønderborg, DenmarkDespite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing vehicles in the plane, that is, automatic path generation combined with computation of control input profiles. Simulations are presented to illustrate the potential of the approach.http://dx.doi.org/10.1155/2011/402017 |
| spellingShingle | Lin Xiao Jerome Jouffroy On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles Journal of Control Science and Engineering |
| title | On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles |
| title_full | On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles |
| title_fullStr | On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles |
| title_full_unstemmed | On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles |
| title_short | On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles |
| title_sort | on motion planning for point to point maneuvers for a class of sailing vehicles |
| url | http://dx.doi.org/10.1155/2011/402017 |
| work_keys_str_mv | AT linxiao onmotionplanningforpointtopointmaneuversforaclassofsailingvehicles AT jeromejouffroy onmotionplanningforpointtopointmaneuversforaclassofsailingvehicles |