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A Rule-Based Approach to Long-Term Routing for Autonomous Sailboats

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We present an algorithm for long-term routing of autonomous sailboats with an application to the ASV Roboat. It is based on the A*-algorithm and incorporates changing weather conditions by dynamically adapting the underlying routing graph. We implemented our algorithm in the declarative rule-based programing language Constraint Handling Rules (CHR) [4]. A comparison with existing commercial applications yields considerably shorter computation times for our implementation. It works with real-life wind forecasts, takes individual parameters of the sailboat into account, and provides a graphical user interface.


  • Optimal Route
  • Polar Diagram
  • Ensemble Forecast
  • Open List
  • Optimum Track

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  • DOI: 10.1007/978-3-642-22836-0_14
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© 2011 Springer-Verlag Berlin Heidelberg

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Langbein, J., Stelzer, R., Frühwirth, T. (2011). A Rule-Based Approach to Long-Term Routing for Autonomous Sailboats. In: Schlaefer, A., Blaurock, O. (eds) Robotic Sailing. Springer, Berlin, Heidelberg.

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-22835-3

  • Online ISBN: 978-3-642-22836-0

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