Research Article
On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles
Algorithm 1
Motion planning algorithm. Goal: To generate a sequence of control signals for the propulsive force.
1: start/end points , | 2: compare with to check whether it needs to go | backwards, if yes, go backwards and restart from step 1 | 3: solve TPBVP for input levels to get , and | 4: | 5: case 1: apply input levels with durations | 6: | 7: case 2: solve TPBVP for input levels | and apply them with obtained durations | 8: else (i.e., ) | 9: case 3: solve TPBVP for input levels and apply | them with obtained durations | 10: |
|