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

Figure 12

Wearing path between two points when 𝜃₀∈(𝜋/2,𝜋) and 𝑦_𝑇≥𝑦₀, with 𝑥₁=𝑥₀−(𝑦_𝑇−𝑦₀)/tan(𝜋−𝜃₀)−𝑟/tan((𝜋−𝜃₀)/2). (a) For 𝑥_𝑇>𝑥₁ and (b) for 𝑥_𝑇≤𝑥₁.

(a)

(b)