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

Figure 13

Wearing path between two points when 𝜃₀=±𝜋 and 𝑦_𝑇≥𝑦₀, with 𝑥₂=𝑥₀+(𝑦_𝑇−𝑦₀)/tan𝜃_𝑇+𝑟/tan(𝜃_𝑇/2). (a) For 𝑥_𝑇<𝑥₂ and (b) for 𝑥_𝑇≥𝑥₂.

(a)

(b)