Paper Info
Title
Model-Based Development of an Autonomous Sailing Yacht Controller
Abstract
This paper presents the development of a controller for an autonomous sailing yacht, where a model based development is used to support most of the whole development cycle with tools for automatic code generation. The controller is modeled using a three level hierarchical decomposition, where the bottom level uses a fuzzy controller, and the middle one uses a discrete-event modeling formalism based on IOPT nets (Input-Output Place-Transition Petri nets). The higher level of the description accommodates a representation of the goals sequence for a regatta contest. Complementing sailing experiments results presentation, the laboratory framework supporting the development is described, including different types of operation, namely remote operation and/or monitoring of the yacht controller, as well as local emulation of the electronic instrumentation devices allowing emulation of the controller operation in the lab.
Year
DOI
Venue
2015
10.1109/ICARSC.2015.20
ICARSC
Keywords
Field
DocType
petri nets,boats,discrete event systems,fuzzy control,marine control,mobile robots,iopt nets,automatic code generation,autonomous sailing yacht controller,controller development,development cycle,discrete-event modeling formalism,electronic instrumentation devices,fuzzy controller,input-output place-transition petri nets,model based development,remote operation,three level hierarchical decomposition,yacht controller monitoring,hardware,navigation,sensors,mathematical model,fuzzy sets,computer architecture
Remote operation,Control theory,Petri net,Computer science,Simulation,Fuzzy logic,Fuzzy set,Code generation,Model-based design,Emulation
Conference
ISSN
Citations 
PageRank 
2573-9360
2
0.77
References 
Authors
5
4
Name
Order
Citations
PageRank
Luís Gomes18722.71
M. B. Santos262.29
Pereira, T.320.77
Aniko Costa45213.92