A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot
The development of a navigation system for autonomous robotic sailing is a particularly challenging task since the sailboat robot uses unpredictable wind forces for its propulsion besides working in a highly nonlinear and harsh environment, the water. Toward solving the problems that appear in this...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418821830 |
| _version_ | 1828926213810290688 |
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| author | Davi Henrique dos Santos Luiz Marcos Garcia Goncalves |
| author_facet | Davi Henrique dos Santos Luiz Marcos Garcia Goncalves |
| author_sort | Davi Henrique dos Santos |
| collection | DOAJ |
| description | The development of a navigation system for autonomous robotic sailing is a particularly challenging task since the sailboat robot uses unpredictable wind forces for its propulsion besides working in a highly nonlinear and harsh environment, the water. Toward solving the problems that appear in this kind of environment, we propose a navigation system which allows the sailboat to reach any desired target points in its working environment. This navigation system consists of a low-level heading controller and a short-term path planner for situations against the wind. For the low-level heading controller, a gain-scheduling proportional-integral (GS-PI) controller is shown to better describe the nonlinearities inherent to the sailboat movement. The gain-scheduling-PI consists of a table that contains the best control parameters that are learned/defined for a particular maneuver and perform the scheduling according to each situation. The idea is to design specialized controllers which meet the specific control objectives of each application. For achieving short-term path-planned targets, a new approach for optimization of the tacking maneuvering to reach targets against the wind is also proposed. This method takes into account two tacking parameters: the side distance available for the maneuvering and the desired sailboat heading when tacking. An optimization method based on genetic algorithm is used in order to find satisfactory upwind paths. Results of various experiments verify the validity and robustness of the developed methods and navigation system. |
| first_indexed | 2024-12-13T23:28:38Z |
| format | Article |
| id | doaj.art-07f564b83f2047998c38a24a48865e1a |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T23:28:38Z |
| publishDate | 2019-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-07f564b83f2047998c38a24a48865e1a2022-12-21T23:27:28ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142019-01-011610.1177/1729881418821830A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robotDavi Henrique dos Santos0Luiz Marcos Garcia Goncalves1 Graduate Program in Electrical and Computer Engineering, Federal University of Rio Grande do Norte, Natal, Brazil Graduate Program in Computer Science, Federal Fluminense University, Niterói, BrazilThe development of a navigation system for autonomous robotic sailing is a particularly challenging task since the sailboat robot uses unpredictable wind forces for its propulsion besides working in a highly nonlinear and harsh environment, the water. Toward solving the problems that appear in this kind of environment, we propose a navigation system which allows the sailboat to reach any desired target points in its working environment. This navigation system consists of a low-level heading controller and a short-term path planner for situations against the wind. For the low-level heading controller, a gain-scheduling proportional-integral (GS-PI) controller is shown to better describe the nonlinearities inherent to the sailboat movement. The gain-scheduling-PI consists of a table that contains the best control parameters that are learned/defined for a particular maneuver and perform the scheduling according to each situation. The idea is to design specialized controllers which meet the specific control objectives of each application. For achieving short-term path-planned targets, a new approach for optimization of the tacking maneuvering to reach targets against the wind is also proposed. This method takes into account two tacking parameters: the side distance available for the maneuvering and the desired sailboat heading when tacking. An optimization method based on genetic algorithm is used in order to find satisfactory upwind paths. Results of various experiments verify the validity and robustness of the developed methods and navigation system.https://doi.org/10.1177/1729881418821830 |
| spellingShingle | Davi Henrique dos Santos Luiz Marcos Garcia Goncalves A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot International Journal of Advanced Robotic Systems |
| title | A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot |
| title_full | A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot |
| title_fullStr | A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot |
| title_full_unstemmed | A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot |
| title_short | A gain-scheduling control strategy and short-term path optimization with genetic algorithm for autonomous navigation of a sailboat robot |
| title_sort | gain scheduling control strategy and short term path optimization with genetic algorithm for autonomous navigation of a sailboat robot |
| url | https://doi.org/10.1177/1729881418821830 |
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