Advertisement

Data Mining for Optimal Sail and Rudder Control of Small Robotic Sailboats

  • Lars Hertel
  • Alexander Schlaefer
Conference paper

Abstract

Finding the optimal parameter settings to control a sailing robot is an intricate task, as sailing presents a fairly complex problem with a highly non-linear interaction of boat, wind, and water. As no complete mathematical model for sailing is available, we studied how a large set of sensor data gathered in different conditions can be used to obtain parameters. In total, we analyzed approximately 2 million records collected during more than 110 hours of autonomous sailing on 55 different days. The data was preprocessed and episodes of stable sailing were extracted before studying boat, sail and rudder trim with respect to speed, course stability, and energy consumption. Our results highlight the multi-criteria nature of optimizing robotic sailboat control and indicate that a reduced set of preferable parameter settings may be used for effective control.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Adriaans, P.W.: From Knowledge-Based to Skill-Based Systems: Sailing as a Machine Learning Challenge. In: Lavrač, N., Gamberger, D., Todorovski, L., Blockeel, H. (eds.) PKDD 2003. LNCS (LNAI), vol. 2838, pp. 1–8. Springer, Heidelberg (2003)CrossRefGoogle Scholar
  2. 2.
    Anderson, B.: The physics of sailing. Physics Today, 38–43 (2008)Google Scholar
  3. 3.
    Sauzé, C.: A neuro-endocrine inspired approach to power management in sailing robots. Ph.D. dissertation, University of Wales, Aberystwyth (2010)Google Scholar
  4. 4.
    Sauzé, C., Neal, M.: MOOP: A Miniature Sailing Robot Platform. In: Schlaefer, A., Blaurock, O. (eds.) Robotic Sailing, vol. 79, pp. 39–53. Springer, Heidelberg (2011)CrossRefGoogle Scholar
  5. 5.
    Schlaefer, A., Beckmann, D., Heinig, M., Bruder, R.: A New Class for Robotic Sailing: The Robotic Racing Micro Magic. In: Schlaefer, A., Blaurock, O. (eds.) Robotic Sailing, vol. 79, pp. 71–84. Springer, Heidelberg (2011)CrossRefGoogle Scholar
  6. 6.
    Stelzer, R., Pröll, T., John, R.: Fuzzy logic control system for autonomous sailboats. In: Fuzzy Systems Conference, pp. 97–102 (2007)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Lars Hertel
    • 1
  • Alexander Schlaefer
    • 1
  1. 1.Institute for Robotics and Cognitive SystemsUniversity of LuebeckLuebeckGermany

Personalised recommendations