Sailing vessels with wind as their main means of propulsion possess a unique property that the paths they take depend on the wind direction, which, in the literature, has attracted less attention than normal vehicles propelled by propellers or thrusters. This paper considers the problem of motion planning and controllability for sailing vehicles representing the no-sailing zone effect in sailing. Following our previous work, we present an extended algorithm for automatic path generation with a prescribed initial heading for a simple model of sailing vehicles, together with a feedforward controller guiding these vessels along desired trajectories of bounded curvatures. Further, this method immediately adapts to varying wind conditions. Simulation results are hereby presented to illustrate the approach.
55th International Scientific Colloquium (iwk), 2010, p. 336-341