Model Identification, Navigation, Guidance and Control of Autonomous Sailboats
dc.contributor.supervisor | Wan, Jian | |
dc.contributor.author | Vautier, Ulysse | |
dc.contributor.other | School of Engineering, Computing and Mathematics | en_US |
dc.date.accessioned | 2021-05-06T13:16:26Z | |
dc.date.available | 2021-05-06T13:16:26Z | |
dc.date.issued | 2021 | |
dc.identifier | 10596025 | en_US |
dc.identifier.uri | http://hdl.handle.net/10026.1/17088 | |
dc.description.abstract |
The purpose of this study is to investigate novel methods on model identification, navigation, guidance and control of autonomous sailboats in order to sail robustly and efficiently in a wide variety of situations. The study has focused on the development of a robust platform, a model identification process for sailboats, robust control and path-planning methods. A hardware and software system was developed in order to build a research plat- form on which to experiment. Five sailboats were effectively adapted to be able to sail autonomously. Two one-meter long model sailboats, a two-meter long sailboat, a trimaran and a catamaran were tested using this system. Of which, a one-meter long sailboat was used to test developed model identification and navigation methods. A complex sailboat model identification process has been proposed to be, afterwards, used in Model Predictive Control (MPC) scheme. Moreover, a path-planning method for the shortest-length manoeuvre was proposed using the Dubin’s path. This method was then applied in an area scanning task formulated as a Traveling Salesman Prob- lem. The ability for an autonomous sailboat to be used in a wide range of applications was demonstrated through the design and development of novel control methods, a robust hardware configuration and a modular software system. This study has proven that the autonomous sailboat can be a genuine solution to challenging marine applications by providing a durable, sustainable and highly-controllable platform. | en_US |
dc.description.sponsorship | XSens | en_US |
dc.language.iso | en | |
dc.publisher | University of Plymouth | |
dc.rights | CC0 1.0 Universal | * |
dc.rights.uri | http://creativecommons.org/publicdomain/zero/1.0/ | * |
dc.subject | Robotics | en_US |
dc.subject | Autonomous Vehicle | en_US |
dc.subject | Navigation | en_US |
dc.subject | Sensors | en_US |
dc.subject | Path-Planning | en_US |
dc.subject | Optimisation | en_US |
dc.subject | Sailing Robot | en_US |
dc.subject | Control | en_US |
dc.subject | MPC | en_US |
dc.subject | Dubin's Vehicle | en_US |
dc.subject | Dubin's Path | en_US |
dc.subject | Guidance | en_US |
dc.subject | Model Identification | en_US |
dc.subject.classification | PhD | en_US |
dc.title | Model Identification, Navigation, Guidance and Control of Autonomous Sailboats | en_US |
dc.type | Thesis | |
plymouth.version | publishable | en_US |
dc.identifier.doi | http://dx.doi.org/10.24382/1110 | |
dc.rights.embargoperiod | No embargo | en_US |
dc.type.qualification | Doctorate | en_US |
rioxxterms.funder | Plymouth University | en_US |
rioxxterms.identifier.project | GD105227-University of Plymouth PhD Studentship | en_US |
rioxxterms.version | NA | |
plymouth.orcid_id | 0000-0002-0125-9343 | en_US |
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