A reactive approach to obstacle avoidance in autonomous sailing.
This paper presents a reactive approach to obstacle avoidance for autonomous sailboats. It is an extension to the short course routing method published by Stelzer and Pr¨oll in 2008 which enables it to deal with obstacles in real-time. First simulation results are promising. The algorithm enables an autonomous sailboat to circumnavigate differently sized obstacles under various wind conditions successfully.
Citation : Stelzer, R. et al (2010) A reactive approach to obstacle avoidance in autonomous sailing. 3rd International Robotic Sailing Conference (IRSC), Queens University, Ontario, Canada