Robotic Sailing: Proceedings of the 4th International Robotic Sailing Conference
Year: 2011 Language: english Author: Alexander Schlaefer and Ole Blaurock (Eds.) Genre: Conference Publisher: Springer-Verlag Berlin Heidelberg Edition: first ISBN: 3642228356 Format: PDF Quality: eBook Pages count: 216 Description: IRSC 2011 is only the fourth in a series of conferences dedicated to robotic sailing, and while still comparatively small, we have seen a substantial increase in the number of groups interested in and working on robotic sailboats recently. Given that sailing is a fairly old way of locomotion and a high-tech sports today, it is somewhat surprising that the first competition for autonomous sailboats was proposed as late as 2004. Yet, the original objective to autonomously sail across the Atlantic ocean proved to be fairly ambitious, and no boat has succeeded so far. However, this also highlights the complexity of the engineering challenges at hand. Sailing depends as much on the physical properties of boat and rig as on the course and route set in the context of changing winds and currents. Moreover, performance measures do not only include the boat speed, but also seaworthiness and robustness of the whole system. Hence, building a robotic sailboat is a true interdisciplinary project, involving naval architecture and physics, electrical engineering and power managment, embedded systems, computer science, and systems engineering. Establishing a conference held jointly with the World Robotic Sailing Championship (WRSC) has provided a platform for discussions among scientists from all fields involved in robotic sailing. In fact, we believe that the progress made in autonomous sailing so far is to no small extent driven by this combination of competition and knowledge exchange. The interdisciplinary nature of robotics and robotic sailing is reflected in the papers contributed to IRSC and the teams participating in WRSC. Further promoting this multidisciplinary approach will be key to tackling the numerous challenges on the way to truely autonomous sailboats. These proceedings summarize the state of the art in robotic sailing, and the introduction in Part I contains a review illustrating its history and recent advances. Clearly, having a robust and reliable boat is a key requirement, which is also the focus of papers in Part II. The proposed designs range from small one-design boats for algorithm development to vessels built to cross the Atlantic Ocean. Different aspects of the system design and validation are discussed in Part III. The remaining papers focus on algorithmic matters: Part IV presents approaches for collision avoidance while Part V addresses localization and route planning.
Contents
Contents Part I: Introduction History and Recent Developments in Robotic Sailing . . . . . . . . . . . . . . . . . 3 Roland Stelzer, Karim Jafarmadar Part II: Robotic Sailboats Sailing without Wind Sensor and Other Hardware and Software Innovations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Jan Sliwka, Jeremy Nicola, Remi Coquelin, Francois Becket de Megille, Benoit Clement, Luc Jaulin MOOP: A Miniature Sailing Robot Platform . . . . . . . . . . . . . . . . . . . . . . . 39 Colin Sauz´e, Mark Neal Breizh Spirit, a Reliable Boat for Crossing the Atlantic Ocean . . . . . . . . . 55 Richard Leloup, Fr´ed´eric Le Pivert, S´ebastien Thomas, Gabriel Bouvart, Nicolas Douale, Henry De Malet, Laurent Vienney, Yvon Gallou, Kostia Roncin A New Class for Robotic Sailing: The Robotic Racing Micro Magic . . . . 71 Alexander Schlaefer, Daniel Beckmann, Maximilian Heinig, Ralf Bruder Part III: System Development A Systems Engineering Approach to the Development of an Autonomous Sailing Vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Bradley E. Bishop, Joseph Bradshaw, Cody Keef, Nicholas Taschner Using ARM7 and μC/OS-II to Control an Autonomous Sailboat . . . . . . . 101 Michael Koch, Wilhelm Petersen Simulating Sailing Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Colin Sauz´e, Mark Neal Part IV: Collision Avoidance Automatic Obstacle Detection for USV’s Navigation Using Vision Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Oren Gal Rule-Compliant Navigation with Qualitative Spatial Reasoning . . . . . . . . 141 Diedrich Wolter, Frank Dylla, Arne Kreutzmann Global Data Storage for Collision Avoidance in Robotic Sailboat Racing – The World Server Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Nikolaus Ammann, Florian Hartmann, Philipp Jauer, Julia Kr¨uger, Tobias Meyer, Ralf Bruder, Alexander Schlaefer Part V: Localization and Route Planning A Digital Interface for Imagery and Control of a Navico/Lowrance Broadband Radar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 Adrian Dabrowski, Sebastian Busch, Roland Stelzer Route Planning for a Micro-transat Voyage . . . . . . . . . . . . . . . . . . . . . . . . . 183 Peter Gibbons-Neff, Paul Miller A Rule-Based Approach to Long-Term Routing for Autonomous Sailboats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 Johannes Langbein, Roland Stelzer, Thom Fr¨uhwirth Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
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Robotic Sailing: Proceedings of the 4th International Robotic Sailing Conference
Language: english
Author: Alexander Schlaefer and Ole Blaurock (Eds.)
Genre: Conference
Publisher: Springer-Verlag Berlin Heidelberg
Edition: first
ISBN: 3642228356
Format: PDF
Quality: eBook
Pages count: 216
Description: IRSC 2011 is only the fourth in a series of conferences dedicated to robotic sailing,
and while still comparatively small, we have seen a substantial increase in the
number of groups interested in and working on robotic sailboats recently. Given that
sailing is a fairly old way of locomotion and a high-tech sports today, it is somewhat
surprising that the first competition for autonomous sailboats was proposed as late
as 2004. Yet, the original objective to autonomously sail across the Atlantic ocean
proved to be fairly ambitious, and no boat has succeeded so far.
However, this also highlights the complexity of the engineering challenges at
hand. Sailing depends as much on the physical properties of boat and rig as on
the course and route set in the context of changing winds and currents. Moreover,
performance measures do not only include the boat speed, but also seaworthiness
and robustness of the whole system. Hence, building a robotic sailboat is a true
interdisciplinary project, involving naval architecture and physics, electrical engineering
and power managment, embedded systems, computer science, and systems
engineering.
Establishing a conference held jointly with the World Robotic Sailing Championship
(WRSC) has provided a platform for discussions among scientists from all
fields involved in robotic sailing. In fact, we believe that the progress made in autonomous
sailing so far is to no small extent driven by this combination of competition
and knowledge exchange. The interdisciplinary nature of robotics and robotic
sailing is reflected in the papers contributed to IRSC and the teams participating in
WRSC. Further promoting this multidisciplinary approach will be key to tackling
the numerous challenges on the way to truely autonomous sailboats.
These proceedings summarize the state of the art in robotic sailing, and the introduction
in Part I contains a review illustrating its history and recent advances.
Clearly, having a robust and reliable boat is a key requirement, which is also the focus
of papers in Part II. The proposed designs range from small one-design boats for
algorithm development to vessels built to cross the Atlantic Ocean. Different aspects
of the system design and validation are discussed in Part III. The remaining papers
focus on algorithmic matters: Part IV presents approaches for collision avoidance
while Part V addresses localization and route planning.
Contents
ContentsPart I: Introduction
History and Recent Developments in Robotic Sailing . . . . . . . . . . . . . . . . . 3
Roland Stelzer, Karim Jafarmadar
Part II: Robotic Sailboats
Sailing without Wind Sensor and Other Hardware and Software
Innovations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Jan Sliwka, Jeremy Nicola, Remi Coquelin, Francois Becket de Megille,
Benoit Clement, Luc Jaulin
MOOP: A Miniature Sailing Robot Platform . . . . . . . . . . . . . . . . . . . . . . . 39
Colin Sauz´e, Mark Neal
Breizh Spirit, a Reliable Boat for Crossing the Atlantic Ocean . . . . . . . . . 55
Richard Leloup, Fr´ed´eric Le Pivert, S´ebastien Thomas, Gabriel Bouvart,
Nicolas Douale, Henry De Malet, Laurent Vienney, Yvon Gallou,
Kostia Roncin
A New Class for Robotic Sailing: The Robotic Racing Micro Magic . . . . 71
Alexander Schlaefer, Daniel Beckmann, Maximilian Heinig, Ralf Bruder
Part III: System Development
A Systems Engineering Approach to the Development of an
Autonomous Sailing Vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Bradley E. Bishop, Joseph Bradshaw, Cody Keef, Nicholas Taschner
Using ARM7 and μC/OS-II to Control an Autonomous Sailboat . . . . . . . 101
Michael Koch, Wilhelm Petersen
Simulating Sailing Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Colin Sauz´e, Mark Neal
Part IV: Collision Avoidance
Automatic Obstacle Detection for USV’s Navigation Using Vision
Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Oren Gal
Rule-Compliant Navigation with Qualitative Spatial Reasoning . . . . . . . . 141
Diedrich Wolter, Frank Dylla, Arne Kreutzmann
Global Data Storage for Collision Avoidance in Robotic Sailboat
Racing – The World Server Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Nikolaus Ammann, Florian Hartmann, Philipp Jauer, Julia Kr¨uger,
Tobias Meyer, Ralf Bruder, Alexander Schlaefer
Part V: Localization and Route Planning
A Digital Interface for Imagery and Control of a Navico/Lowrance
Broadband Radar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Adrian Dabrowski, Sebastian Busch, Roland Stelzer
Route Planning for a Micro-transat Voyage . . . . . . . . . . . . . . . . . . . . . . . . . 183
Peter Gibbons-Neff, Paul Miller
A Rule-Based Approach to Long-Term Routing for Autonomous
Sailboats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Johannes Langbein, Roland Stelzer, Thom Fr¨uhwirth
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
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