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Robotics 2016, 5(1), 5; doi:10.3390/robotics5010005

Design and Implementation of a Control System for a Sailboat Robot

1
Universidade Federal do Rio Grande do Norte, Natal-RN 59078-900, Brazil
2
Instituto Federal de Educação Tecnológica do Rio Grande do Norte, Natal-RN 59015-000, Brazil
3
Centro de Hidrografia da Marinha do Brasil, Rio de Janeiro-RJ 24048-900, Brazil
4
Universidade Federal de São Carlos, São Carlos-SP 13565-905, Brazil
Junior, A.G.S.; Silva, M.V.A.; Araujo, A.P.; Aroca, R.V.; Gonçalves, L.M.G. N-BOAT: An Autonomous Robotic Sailboat. In Proceedings of IEEE Latin American Robotics Symposium and Competition (LARS/LARC), Arequipa, Peru, 21–27 October 2013; pp. 24–29.
These authors contributed equally to this work.CallSend SMSCall from mobileAdd to SkypeYou'll need Skype CreditFree via Skype
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Received: 14 November 2015 / Revised: 24 December 2015 / Accepted: 21 January 2016 / Published: 15 February 2016

Abstract

This article discusses a control architecture for autonomous sailboat navigation and also presents a sailboat prototype built for experimental validation of the proposed architecture. The main goal is to allow long endurance autonomous missions, such as ocean monitoring. As the system propulsion relies on wind forces instead of motors, sailboat techniques are introduced and discussed, including the needed sensors, actuators and control laws. Mathematical modeling of the sailboat, as well as control strategies developed using PID and fuzzy controllers to control the sail and the rudder are also presented. Furthermore, we also present a study of the hardware architecture that enables the system overall performance to be increased. The sailboat movement can be planned through predetermined geographical way-points provided by a base station. Simulated and experimental results are presented to validate the control architecture, including tests performed on a lake. Underwater robotics can rely on such a platform by using it as a basis vessel, where autonomous charging of unmanned vehicles could be done or else as a relay surface base station for transmitting data. View Full-Text
Keywords: sailboat; robotics; autonomy; ocean monitoring; water quality sailboat; robotics; autonomy; ocean monitoring; water quality
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Santos, D.; Silva Junior, A.G.; Negreiros, A.; Vilas Boas, J.; Alvarez, J.; Araujo, A.; Aroca, R.V.; Gonçalves, L.M.G. Design and Implementation of a Control System for a Sailboat Robot. Robotics 2016, 5, 5.

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