Title :
IBOAT: An autonomous robot for long-term offshore operation
Author_Institution :
ISAE, Univ. de Toulouse, Toulouse
Abstract :
The concept of autonomous sailing robot is proposed for long term offshore operation as an enhancement for traditional drifting buoys. A prototype of a sailing robot is fully described: structure, sensors, actuators, control system and communication. The sailing boat is modeled and identified from experiments. Control and navigation system is addressed. A simple state machine controller shows very robust performance for both low level and maneuver control.
Keywords :
marine systems; mobile robots; IBOAT; actuators; aerodynamic force; autonomous sailing robot; control system-and-communication; control-and-navigation system; long term offshore operation; maneuver control; sailing boat modeling; state machine controller; traditional drifting buoys; Actuators; Boats; Communication system control; Control systems; Navigation; Prototypes; Robot sensing systems; Robust control; Sensor phenomena and characterization; Sensor systems;
Conference_Titel :
Electrotechnical Conference, 2008. MELECON 2008. The 14th IEEE Mediterranean
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-1632-5
Electronic_ISBN :
978-1-4244-1633-2
DOI :
10.1109/MELCON.2008.4618455
