On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles

Figure 10

Wearing path between two points when 𝜃₀∈(0,𝜋/2) and 𝑦_𝑇≥𝑦₀. (a) For 𝑥_𝑇<𝑥₁ and (b) for 𝑥_𝑇≥𝑥₁.

(a)

(b)