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

Figure 15

Initial configuration transformation when 𝜃₀∈(−𝜋,0) and 𝑦_𝑇<𝑦₀. (a) 𝜃₀∈[−𝜋/2,0), red line indicates that 𝜃₀=−𝜋/2 and (b) 𝜃₀∈(−𝜋,−𝜋/2).

(a)

(b)