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Two nested control loops are implemented in the computer of Vaimos. The first loop corresponds to a low level controller which tunes the rudder and the sail provided in order to have a desired heading. The second loop generates the desired heading to make the line to follow attractive. With this two
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loop control strategy, we have the guarantee that the robot will always stay inside the required corridor. This is illustrated the spiral experiment where the robot has to follow a square spiral . The proof that the robot will always stay inside its corridor can be performed using
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F. Le Bars and L. Jaulin (2012), An experimental validation of a robust controller with the Vaimos autonomous sailboat, In
Proceedings of the 5th International Robotic Sailing Conference (Springer Eds.), Cardiff,
48:. One of the longest trips the robot has done is Brest-Douarnenez where Vaimos has done more than 100 km in an autonomous mode. Since Vaimos has made trips more than 350 km long.
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71:: the direction to be followed is consistent with the direction of the wind and the distance between the robot and its line corresponds to the GPS error (approx. 10 meters),
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L. Jaulin and F. Le Bars (2012), An interval approach for stability analysis; Application to sailboat robotics, IEEE Transactions on
Robotics, volume=27, issue=5,
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The robot follows a desired trajectory which is a sequence of lines. When following a line, the robot has two modes.
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Its goal is to collect measurements at the surface of the ocean. This robot is the result of a collaboration between
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boat with embedded instrumentation for ocean surface measurements.
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and the distance to the line is less than 70 meters.
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134:Bars, Fabrice Le; Jaulin, Luc (2014).
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