Model-based development of an autonomous sailing yacht controller

Luís Gomes; Miguel Santos; Thiago Pereira; Anikó Costa

doi:10.1109/ICARSC.2015.20

Model-based development of an autonomous sailing yacht controller

Luís Gomes, Miguel Santos, Thiago Pereira, Anikó Costa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

This paper presents the development of a controller for an autonomous sailing yacht, where a model based development is used to support most of the whole development cycle with tools for automatic code generation. The controller is modeled using a three level hierarchical decomposition, where the bottom level uses a fuzzy controller, and the middle one uses a discrete-event modeling formalism based on IOPT nets (Input-Output Place-Transition Petri nets). The higher level of the description accommodates a representation of the goals sequence for a regatta contest. Complementing sailing experiments results presentation, the laboratory framework supporting the development is described, including different types of operation, namely remote operation and/or monitoring of the yacht controller, as well as local emulation of the electronic instrumentation devices allowing emulation of the controller operation in the lab.

Original language	English
Title of host publication	Proceedings - 2015 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	103-108
Number of pages	6
ISBN (Electronic)	9781467369909
DOIs	https://doi.org/10.1109/ICARSC.2015.20
Publication status	Published - 4 May 2015
Event	9th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015 - Vila Real, Portugal Duration: 8 Apr 2015 → 10 Apr 2015

Conference

Conference	9th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015
Country/Territory	Portugal
City	Vila Real
Period	8/04/15 → 10/04/15

Keywords

Automatic programming
Controllers
Petri nets
Yachts
Discrete event simulation
Robotics

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10.1109/ICARSC.2015.20Licence: Unspecified

Cite this

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title = "Model-based development of an autonomous sailing yacht controller",

abstract = "This paper presents the development of a controller for an autonomous sailing yacht, where a model based development is used to support most of the whole development cycle with tools for automatic code generation. The controller is modeled using a three level hierarchical decomposition, where the bottom level uses a fuzzy controller, and the middle one uses a discrete-event modeling formalism based on IOPT nets (Input-Output Place-Transition Petri nets). The higher level of the description accommodates a representation of the goals sequence for a regatta contest. Complementing sailing experiments results presentation, the laboratory framework supporting the development is described, including different types of operation, namely remote operation and/or monitoring of the yacht controller, as well as local emulation of the electronic instrumentation devices allowing emulation of the controller operation in the lab.",

keywords = "Automatic programming, Controllers, Petri nets, Yachts, Discrete event simulation, Robotics",

author = "Lu{\'i}s Gomes and Miguel Santos and Thiago Pereira and Anik{\'o} Costa",

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doi = "10.1109/ICARSC.2015.20",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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Gomes, L, Santos, M, Pereira, T & Costa, A 2015, Model-based development of an autonomous sailing yacht controller. in Proceedings - 2015 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015., 7101618, Institute of Electrical and Electronics Engineers (IEEE), pp. 103-108, 9th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015, Vila Real, Portugal, 8/04/15. https://doi.org/10.1109/ICARSC.2015.20

Model-based development of an autonomous sailing yacht controller. / Gomes, Luís; Santos, Miguel; Pereira, Thiago et al.
Proceedings - 2015 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015. Institute of Electrical and Electronics Engineers (IEEE), 2015. p. 103-108 7101618.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Santos, Miguel

AU - Pereira, Thiago

AU - Costa, Anikó

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PY - 2015/5/4

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AB - This paper presents the development of a controller for an autonomous sailing yacht, where a model based development is used to support most of the whole development cycle with tools for automatic code generation. The controller is modeled using a three level hierarchical decomposition, where the bottom level uses a fuzzy controller, and the middle one uses a discrete-event modeling formalism based on IOPT nets (Input-Output Place-Transition Petri nets). The higher level of the description accommodates a representation of the goals sequence for a regatta contest. Complementing sailing experiments results presentation, the laboratory framework supporting the development is described, including different types of operation, namely remote operation and/or monitoring of the yacht controller, as well as local emulation of the electronic instrumentation devices allowing emulation of the controller operation in the lab.

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KW - Controllers

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KW - Discrete event simulation

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ER -

Model-based development of an autonomous sailing yacht controller

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