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

Figure 16

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

(a)

(b)