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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
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)
Anderson, B.: The physics of sailing. Physics Today, 38–43 (2008)
Sauzé, C.: A neuro-endocrine inspired approach to power management in sailing robots. Ph.D. dissertation, University of Wales, Aberystwyth (2010)
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)
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)
Stelzer, R., Pröll, T., John, R.: Fuzzy logic control system for autonomous sailboats. In: Fuzzy Systems Conference, pp. 97–102 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hertel, L., Schlaefer, A. (2013). Data Mining for Optimal Sail and Rudder Control of Small Robotic Sailboats. In: Sauzé, C., Finnis, J. (eds) Robotic Sailing 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33084-1_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-33084-1_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33083-4
Online ISBN: 978-3-642-33084-1
eBook Packages: EngineeringEngineering (R0)