Improving Obstacle Avoidance Strategies in Autonomous Navigation of a Sailboat
Pedro Paiva, Lúıs Gomes · 2023
This work explores the different mechanisms involved in creating a behavioural system for route planning and collision avoidance, taking into account the constraints imposed by the navigational characteristics of the sailboat. The implementation of these mechanisms is accompanied by an introduction to fundamental concepts, including Artificial Potential Fields, Histograms of Vector Fields, Navigation in the No-Go Zone, Differentiation of the Nature of Obstacles resulting in Different Operations, and the Constitution of Different Areas of Actuation. Finally, multiple simulations are conducted in a virtual environment to verify the resilience of the proposed navigation strategy.