Robotic Sailing 2016 by José C. Alves & Nuno A. Cruz

Author:José C. Alves & Nuno A. Cruz
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

wind_alignment (obtained by the difference between the wind direction and the sailboat orientation); this variable is used only by the sail controller;

roll (obtained from compass module, and providing an indirect information on wind velocity); this variable is used only by the sail controller.

For the rudder controller, the goal_alignment variable is the only input, characterized as illustrated in Fig. 6, a set of fuzzy rules is defined as presented in Fig. 7, where output variable is characterized using five possible singleton values.

Fig. 6Fuzzy sets associated with goal_alignment input variable

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