An Improved Short-Course Path Planning Algorithm for Unmanned Sailboats with Adjustable Center of Gravity Position
Zhongjie Li, Yang Zhao, Ying Gong, Fan Shen, Yan Peng, Min Wang · 2024
This paper proposes an improved short-course path planning algorithm for unmanned sailboats based on polar plot of the coefficient of thrust of arc-shaped sails to reduce the number of large-angle direction changes. The algorithm plans better paths in any wind direction, allowing unmanned sailboats to reach their destinations faster. This work introduces, for the first time, a method to adjust the sailboat's center of gravity to utilize lateral forces for reducing drift and turning time, particularly in headwinds. Furthermore, it addresses the drift caused by lateral forces to enhance heading accuracy, enabling the sailboat to reach within a 0.5-meter radius of the target point. Simulation results demonstrate that the algorithm enables the unmanned sailboat to reach its destination faster and with lower energy consumption, achieving a reduction in arrival time ranging from 20% to 50% compared to the original algorithm.