Adaptive probabilistic tack manoeuvre decision for sailing vessels
Adaptive probabilistic tack manoeuvre decision for sailing vessels
To move upwind, sailing vessels have to cross the wind by tacking. During this manoeuvre distance made good may be lost and especially smaller vessels may struggle to complete a tack in averse wind and wave conditions. A decision for the best tack manoeuvre needs to be made based on weather and available tack implementations.
This paper develops an adaptive probabilistic tack manoeuvre decision method. The order of attempting different tacking strategies is based on previous success within a timeout, combined with an exploration component. This method is successfully demonstrated on the1m long sailing vessel Black Python. Four strategies for crossing the wind were evaluated through adaptive probabilistic choices, and the best was identified without detailed sensory knowledge of the actual weather conditions.
Based on the positive results, further improvements for a better selection process are suggested and the potential of using the collected data to recognise the impact of weather conditions on tacking efforts is recognised.
sailing robot, tack, manoeuvre
95-103
Lemaire, Sebastien
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Cao, Yu
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Kluyver, Thomas
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Hausner, Daniel
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Vasilovici, Camil
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Lee, Zhong-yuen
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Jose Varbaro, Umberto
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Schillai, Sophia M.
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31 August 2018
Lemaire, Sebastien
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Cao, Yu
1a78aac1-22dc-4912-9147-4b58dd780ece
Kluyver, Thomas
d3bd4245-1a99-4268-b34f-8f9f0153465e
Hausner, Daniel
4cd9fa3f-ead4-4579-a481-fbd6306b6653
Vasilovici, Camil
7e6dbcc3-86f4-495d-ad9c-b45d521a00bd
Lee, Zhong-yuen
ed8501e0-d372-4087-abe7-4be37b8de71b
Jose Varbaro, Umberto
323d164d-8487-41e5-910a-23f072b78bd0
Schillai, Sophia M.
8691c9c5-a8ba-4941-b03e-187fcdb39e7b
Lemaire, Sebastien, Cao, Yu, Kluyver, Thomas, Hausner, Daniel, Vasilovici, Camil, Lee, Zhong-yuen, Jose Varbaro, Umberto and Schillai, Sophia M.
(2018)
Adaptive probabilistic tack manoeuvre decision for sailing vessels.
International Robotic Sailing Conference IRSC2018, Southampton, Southampton, United Kingdom.
31 Aug - 01 Sep 2018.
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
To move upwind, sailing vessels have to cross the wind by tacking. During this manoeuvre distance made good may be lost and especially smaller vessels may struggle to complete a tack in averse wind and wave conditions. A decision for the best tack manoeuvre needs to be made based on weather and available tack implementations.
This paper develops an adaptive probabilistic tack manoeuvre decision method. The order of attempting different tacking strategies is based on previous success within a timeout, combined with an exploration component. This method is successfully demonstrated on the1m long sailing vessel Black Python. Four strategies for crossing the wind were evaluated through adaptive probabilistic choices, and the best was identified without detailed sensory knowledge of the actual weather conditions.
Based on the positive results, further improvements for a better selection process are suggested and the potential of using the collected data to recognise the impact of weather conditions on tacking efforts is recognised.
Text
Tack-Decision-IRSC2018
- Accepted Manuscript
More information
Published date: 31 August 2018
Venue - Dates:
International Robotic Sailing Conference IRSC2018, Southampton, Southampton, United Kingdom, 2018-08-31 - 2018-09-01
Keywords:
sailing robot, tack, manoeuvre
Identifiers
Local EPrints ID: 429158
URI: http://eprints.soton.ac.uk/id/eprint/429158
PURE UUID: fcab9008-89e4-4f3e-b11f-e62d616e6270
Catalogue record
Date deposited: 22 Mar 2019 17:30
Last modified: 16 Mar 2024 00:55
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Contributors
Author:
Sebastien Lemaire
Author:
Yu Cao
Author:
Thomas Kluyver
Author:
Daniel Hausner
Author:
Camil Vasilovici
Author:
Zhong-yuen Lee
Author:
Umberto Jose Varbaro
Author:
Sophia M. Schillai
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