Model-based development of an autonomous sailing yacht controller

Luís Gomes, Miguel Santos, Thiago Pereira, Anikó Costa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages103-108
Number of pages6
ISBN (Electronic)9781467369909
DOIs
Publication statusPublished - 4 May 2015
Event9th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015 - Vila Real, Portugal
Duration: 8 Apr 201510 Apr 2015

Conference

Conference9th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015
CountryPortugal
CityVila Real
Period8/04/1510/04/15

Keywords

  • Automatic programming
  • Controllers
  • Petri nets
  • Yachts
  • Discrete event simulation
  • Robotics

Fingerprint Dive into the research topics of 'Model-based development of an autonomous sailing yacht controller'. Together they form a unique fingerprint.

  • Cite this

    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 (pp. 103-108). [7101618] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARSC.2015.20