Autonomous Sailboat Navigation

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dc.contributor.author Stelzer, Roland
dc.date.accessioned 2012-09-27T09:17:14Z
dc.date.available 2012-09-27T09:17:14Z
dc.date.issued 2012
dc.identifier.uri http://hdl.handle.net/2086/7364
dc.description.abstract The purpose of this study was to investigate novel methods on an unmanned sailing boat, which enables it to sail fully autonomously, navigate safely, and perform long-term missions. The author used robotic sailing boat prototypes for field experiments as his main research method. Two robotic sailing boats have been developed especially for this purpose. A compact software model of a sailing boat's behaviour allowed for further evaluation of routing and obstacle avoidance methods in a computer simulation. The results of real-world experiments and computer simulations are validated against each other. It has been demonstrated that autonomous boat sailing is possible by the effective combination of appropriate new and novel techniques that will allow autonomous sailing boats to create appropriate routes, to react properly on obstacles and to carry out sailing manoeuvres by controlling rudder and sails. Novel methods for weather routing, collision avoidance, and autonomous manoeuvre execution have been proposed and successfully demonstrated. The combination of these techniques in a layered hybrid subsumption architecture make robotic sailing boats a promising tool for many applications, especially in ocean observation. en
dc.language.iso en en
dc.publisher De Montfort University en
dc.subject Autonomous Sailing en
dc.subject Robotics en
dc.subject Marine Engineering en
dc.title Autonomous Sailboat Navigation en
dc.type Thesis or dissertation en
dc.publisher.department Faculty of Technology en
dc.publisher.department School of Computer Science and Informatics en
dc.publisher.department Centre for Computational Intelligence en
dc.type.qualificationlevel Doctoral en
dc.type.qualificationname PhD en


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