A reactive approach to obstacle avoidance in autonomous sailing.
Roland Stelzer, Karim Jafarmadar, Hannes Hassler, Raphael Charwot · DMU Open Research Archive (De Montfort University) · 2010
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.