A Hardware-in-the-Loop Simulator to Optimize Autonomous Sailboat Performance in Real Ocean Conditions

In this work, a hardware-in-the-loop (HIL) simulator is designed to diagnose the behavior of an autonomous sailboat as it navigates between waypoints. At its core, HIL includes pilot on embedded system. The sensor data input system fed by navigation that takes into account different forces due wind, waves and current conditions. then tested for route from sea trials published in 2014, automated compared when vessel driven crew. As demonstrated, can outperform man-operated vessel. tool also used weaknesses autopilot algorithm be improved future.