Abstract
Unmanned sailboats can convert wind energy with sails to provide power for navigation, which can independently plan routes and collect data without human intervention. They have received increasing attention in recent years due to their low power consumption and strong self-sustainability. Due to the greater difficulty of manipulation, the unmanned sailboats have a weaker maneuverability than the propeller-driven vessels in the complex and variable marine environment. Typically, the turning motion is evaluated to characterize the maneuverability of a vessel, which has rarely been investigated in the existing research on unmanned sailboats. Therefore, this study builds a motion simulation platform for unmanned sailboats based on the 3 m class Petrel Sail to investigate the turning characteristics. The index of the approximate turning circle is introduced based on the turning motion trajectory, which is used to obtain the effect of rudder angle, wind angle, wind speed, and current speed on the turning performance of the sailboat in ideal hydrostatic conditions and under flow disturbance, respectively. Finally, a harbor pool test is conducted with an unmanned sailboat to verify the analysis results, and the errors in maximum transverse distance and maximum advance distance are in the reasonable range, proving the correctness of the theoretical results. The current study also provides theoretical guidance for subsequent research on sailboat manipulation and maneuverability.