Autonomous Sailing Boat

Kostia Roncin

Contents
Presentation Overview. Scientific community & events Student project : Micro Transat Challenge Results Research program & platform

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Natural Propulsion Seminar

Ensta Bretagne
Multidisciplinary school
Naval Architecture Embedded system

Located in Brest
Sailor paradise France western extremity

Ideal for Micro Transat challenge

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Previous Works & Objectives

MSN (Mechanic of Naval Structure department) Experimental impact test platform Naval structure durability
DFMS

Relevant modelling of hydrodynamic forces for structural scantling

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Previous Works: simulator

Dynamic simulation 6DOF Quick robust and precise hydrodynamic model (experimental design method, towing tank) aerodynamic interaction
Influence of waves

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Previous Works: sea trials

Camera CCD (ENV) 4 wind vane(ENV) Antenne DG16 (Thals)

Measure onshore

CPU

(IUT de Nantes)

Inertial unit (Cadden) Helm angle sensor(ECN)

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Autonomous Sailing Boat Definition

Definition by Steltzer et al.(INNOC)
Wind is the only source of propulsion Not remotely controlled; entire control system is on board Energy self-sufficient
Roland Stelzer et al., History and Recent Developments in Robotic Sailing, Part I, 3-23, IRSC 2011, Lbeck

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Potentials applications
Intelligent sensor buoys
CO2 neutral transportation of goods

Reconnaissance and surveillance

Supply vessel

Unmanned ferrying
Minefield mapping
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Gorgues et al. (2011) J. Sci. Hal. Aquat., 4: 105-109

ASB main strengths

Long mission ranges
Negligible operation costs

Potential for towing sensors

Real-time data transmission

Real-time localisation
Very low noise generation
Nuno A. Cruz, Jose C. Alvez. Ocean sampling and surveillance using autonomous sailboats. International Robotic Sailing Conference, 23-24 May, 2008. Breitenbrunn, Austria

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Forerunners
1968 SKAMP project
1995 Relationship 1997 Fuzzy logic controlled sailing boat

by Abril et al.
2001 Atlantis, Stanford university
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Scientific events & competitions

Micro Transat

World Robot Sailing Championship / IRSC

Sailbot
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Scientific community

British Columbia univ. Queens Univ. Royal Mil. College

Aberystwyth Univ.

Stralsund Univ. Lbeck Univ.

ENSTA Bretagne Memorial Univ. ISAE FEUP ETH Zrich

INNOC

USNA Isral Inst. of Tech.

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Breizh Spirit Projects

BS1, the first prototype

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BS2, an experimental research platform for model validation

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BS3, a boat for the Atlantic crossing

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Current team
Gabriel Bouvart, Henry De Malet, Nicolas Douale, Richard Leloup, Frdric Le Pivert, Sbastien Thomas, Laurent Vienney,
Pierre Cambon, Yvon Gallou, Michel Jaffres, Bruno Mecucci, Frederic Montel

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Boats characteristics
unit LOA LWL BWL T SA Disp. m m m m m2 kg Breizh Spirit 1 1.5 1.3 0.35 0.8 0.86 13 Breizh Spirit 2 2.3 2 0.8 0.8 2 55 Breizh Spirit 3 1.7 1.4 0.45 0.8 0.75 13

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BS3 components
Classical sloop rig

Flash light Ultra sonic wind vane

Solar panels Embedded system & actuators
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Wood bumper

Anatomy of BS3

PIC 18F2550

Communication system Modified spot messenger (awake every 8h)

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Energy balance of BS3

Critical point for small boat (<2m)
Average consumption ~150 mA

Solar panels
Battery 12V 12 Ah . Autonomy

up to 500 mA

Test under real conditions shows a margin of 26% ~3 days

Switch off awake system

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Simple algorithm
Powerless embedded system
Sufficient for good boat

Stable in heading
Equilibrated. Required little helm movements

Efficient in any weather condition

Performance is mandatory
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Simple algorithm
Sail trimming Linear relation between AWA (Apparent Wind Angle) and sail actuator position Helm control A simple proportional corrector (for good boat)
Heading Order

Error

Corrector

Helm angle

AWA

AWA

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Tests and results

Lake Harbour Open sea

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Tests and results

The crossing of the Brest

Harbour
Distance : 6.5 NM

Average speed : 3 kts Maximum speed 5.6 kts.

Brest Harbour crossing. The yellow points correspond to the waypoints

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Micro Transat, First attempt

Launch point 49N 647W approach Start line 730W

Best distance in strait line (54 NM) Best distance over 24h (37NM) 38h under control

Waypoint n1
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ASB performance evolution

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Obstacles, future improvements

Collisions (ship, fishnet, container, dolphins,
seagull )

Water tightness
Endurance, energy balance for small boats

Routing avoiding bad weather

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Anti collision solutions

Development of algorithm and detection system
Under development

Virtually efficient
Works rarely in the real world
(Schlaefer IRSC2011)

Small boat
Not dangerous for anyone Energy balance problem (powerless system)
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Research program and platform

Global mean of validation
No crew

Simple & Cheap to set up (little logistic)

Parameters under control (helm, sail

trimming, weight position, )

Small compared to the usual waves height

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BS2, embedded system

Powerful for data acquisition
Electronics
Heading Wind Speed & Compass direction

position

GP-04S SiRF Star III

Anemometer (CV7)

Attitude

Central Unit, Sb rio

Inertial unit (MTI Xsens)

Sensors, deformation gage, Natural Propulsion Seminar 28

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Questions?

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