Autonomous sailboat navigation for short course racing

The paper presents a compact method to calculate a suitable route for a sailboat in order to reach any specified target. The calculation is based on the optimisation of the time derivative of the distance between boat and target and features a hysteresis condition, which is of particular importance for beating to windward. The algorithm provides an answer to the perennial question when to tack on upwind courses. Further, it immediately adapts to varying wind conditions. The resulting routes for different conditions are analysed on the basis of a simulation featuring a mathematical boat model. Experiments have been carried out using an unmanned and autonomously controlled sailboat. The navigated route agrees well with the simulation results.