Overview and control strategies of autonomous sailboats—A survey

摘要

In recent decades, marine robots have become increasingly important for a wide range of applications in bodies of water, including oceans, gulfs, and lakes. One type of unmanned surface vehicle that has gained attention is the autonomous sailboat, which utilizes wind as a source of propulsion, offering advantages in terms of energy consumption and continuous operation. While autonomous sailboats face limitations in motion and constraints compared to conventional unmanned surface vehicles that use motors, sailing maneuvering techniques can provide motion capability to reach a destination. This survey paper provides a comprehensive overview of autonomous sailboats, including their fundamental background, dynamic models, and guidance systems. Control strategies for heading and speed controls are investigated and categorized based on their purposes and computational criteria. Finally, the potential applications of these control strategies are evaluated and compared, highlighting their importance for future research.