著者

武田 賢成 橘 完太

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.40, no.6, pp.519-527, 2022 (Released:2022-07-20)

参考文献数

20

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Currently, autonomous driving on sailing vehicles attracting attentions. In our previous study, a set of control rules was proposed to reach the windward target point using the position information obtained at intervals of several seconds for a sailing vehicle on the water, which is more difficult to stop and steer than on land and is more likely to sway leeward. In this study, in addition to this previous study, we conduct and analyze actual experiments using two methods that apply an obstacle avoidance method proposed previously on land to sailing vehicle on the water. Method 1 aims at the middle direction between the avoidance direction and the target point direction, and Method 2 steers in the direction opposite to the obstacle. We conducted actual experiments of obstacle avoidance using a sailing robot. We confirmed that obstacle avoidance was possible with either of the two proposed methods, and we clarified the characteristics of the methods by analysis. In the experiments, the wind blew almost orthogonal to the two-point reciprocating course with the midpoint as the obstacle, so the obstacle and the target point were located upwind from the direction of travel in all three times of meet with the obstacle. In this situation, Method 1 steered upwind to soften the Leeway effect and prevent the path from bulging downwind. In Method 2, the time to avoid obstacles was shortened by turning the rudder in the leeward direction.