Design and Implementation of a Navigation Algorithm for an Autonomous Sailboat
نویسندگان
چکیده
In the context of a focus project at the Federal Institute of Technology (ETH Zurich) which is concerned with the development of an autonomous sailing vessel, this bachelor thesis describes in detail the design and implementation of a path planner for Avalon, an autonomous sailing boat. The planning algorithm is based on an A* search in 3 dimensions (x, y, heading) and takes into account current wind speed, wind direction and the nonholonomic properties of a sailing boat. The resulting paths minimize sailing duration in presence of static and dynamic obstacles. To break a world record in autonomous sailing, the algorithm will be used to guide Avalon across the Atlantic Ocean. In order to participate in the World Robotic Sailing Championship 2009 in Portugal, short course racing abilities are discussed, too.
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