OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

IBOAT: an unmanned sailing robot for the MICROTRANSAT challenge and ocean monitoring

Briere, Yves IBOAT: an unmanned sailing robot for the MICROTRANSAT challenge and ocean monitoring. (2007) In: TAROS 2007 : Towards Autonomous Robotic Systems, 03-05 Sept 2007, Aberystwyth, United Kingdom .

[img](Document in English)

PDF (Author's version) - Depositor and staff only - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
410Kb

Official URL: http://taros2007.dcs.aber.ac.uk/

Abstract

A prototype of a sailing robot is fully described: structure, sensors, actuators, control system and communication. The sailing boat is modeled and identified from experiments. Control and navigation system is addressed. A simple state machine controller shows very robust performance both for low level and maneuver control. A Neural network controller is derived from the state machine controller and is found to be even more robust.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution: Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE
Laboratory name:
Département de Mathématiques, Informatique, Automatique - DMIA (Toulouse, France) - Automatique, Dynamique et Interface des Systèmes - ADIS
Statistics:download
Deposited By:Yves Briere

Repository Staff Only: item control page