The paper addresses the path tracking issue for a robot that uses wind as the main propulsion energy source. There is a growing interest in investigating alternative sources of energy for propulsion and wind energy could be a possible answer. Given a set of predefined waypoints, an algorithm is proposed that enables a robot to follow the straight lines between the high-level waypoints to accomplish autonomously a patrol or monitoring task. Simulations obtained from a dynamic model of the vehicle are included, showing the controller’s performance and how environment conditions, i.e. wind intensity and direction, influence the vehicle response.
A Path Tracking Algorithm for an Autonomous Wind-Driven Robot / Caruso, Fabio; Foglia, Mario; Reina, Giulio (MECHANISMS AND MACHINE SCIENCE). - In: Advances in Italian Mechanism Science : proceedings of the 3rd International Conference of IFToMM Italy / [a cura di] Vincenzo Niola; Alessandro Gasparetto. - STAMPA. - Cham, CH : Springer, 2021. - ISBN 978-3-030-55806-2. - pp. 542-550 [10.1007/978-3-030-55807-9_61]
A Path Tracking Algorithm for an Autonomous Wind-Driven Robot
Fabio Caruso;Mario Foglia;Giulio Reina
2021-01-01
Abstract
The paper addresses the path tracking issue for a robot that uses wind as the main propulsion energy source. There is a growing interest in investigating alternative sources of energy for propulsion and wind energy could be a possible answer. Given a set of predefined waypoints, an algorithm is proposed that enables a robot to follow the straight lines between the high-level waypoints to accomplish autonomously a patrol or monitoring task. Simulations obtained from a dynamic model of the vehicle are included, showing the controller’s performance and how environment conditions, i.e. wind intensity and direction, influence the vehicle response.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
