Research On An Optimal Path Planning Method For A Sailboat Sailing Around Race Marks

Sailboat racing is a professional sport requiring the best velocity in giving voyage. Optimal path planning is a key link for the sailing contest. This paper proposed an optimal path planning method for a sailboat sailing around race marks based on section optimization. It set up the two-dimension model for sailing. It divides the whole voyage into several sections and gets the new fictitious coordinate of each section by circumvolving and shifting operation. Each section utilizes fuzzy comprehensive evaluation concept to find the local optimal path. Then we get the global optimal path by reverting to the original coordinate. Simulation results indicated the effectiveness and the applicability of the proposed method.