Path Planning Analysis for a Sailboat Racing Along Upwind-downwind Triangle Course

摘要

By analyzing setting characters of upwind-downwind triangle course, a whole optimal path planning method based on leg optimization is proposed for a sailboat sailing along this course. The method establishes the global two-dimension coordinates system for the whole sailing in yachting arena, and sets up relative virtual coordinate model in each leg. Sea conditions relative to the legs are gotten by conversion and the leg parameters are determined. And then the local optimal path of each leg is planned based on heading decision comprehensive evaluation. So the optimal path for the whole voyage is gotten by summarizing and reverting to the global coordinates. Simulation analysis for different angle of the triangle course indicated the effectiveness of the proposed method and the guidance on scientific sailing training.