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Contribution à la commande de voiliers robotisés

Miguel Angel Romero Ramirez 1 
ISIR - Institut des Systèmes Intelligents et de Robotique
Abstract : For a number of years, oceanographers and climatologists have been expressing the increasing need to have additional means in order to realize offshore measures. Autonomous sailboats are potential tools for helping to deploy the sensors required to carry out such tasks. In this thesis we address the problem of the determination of a navigable course for an autonomous sailboat, which is able to adapting itself to the immediate conditions of wind while guaranteeing obstacle avoidance. We propose two different approaches which can generate an admissible reference heading to drive the sailboat towards one or more desired waypoints specified by a human operator. The first technique based on cost functions is grounded on the strategy of speeds projection represented in the sailboat characteristic polar curve, a method which is widely used by human skippers. The second technique is based on the potential fields theory which has the advantage of unifying the representation of the sailing navigation constraints and the tasks to be realized. Simulation and experimental results are presented.
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Contributor : Miguel-Angel Romero-Ramirez Connect in order to contact the contributor
Submitted on : Thursday, January 26, 2012 - 11:44:16 AM
Last modification on : Tuesday, July 19, 2022 - 10:51:00 AM
Long-term archiving on: : Friday, April 27, 2012 - 2:35:15 AM


  • HAL Id : tel-00663167, version 1


Miguel Angel Romero Ramirez. Contribution à la commande de voiliers robotisés. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2012. Français. ⟨NNT : ⟩. ⟨tel-00663167⟩



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