Model-Based Development of an Autonomous Sailing Yacht Controller

This paper presents the development of a controller for an autonomous sailing yacht, where a model based development is used to support most of the whole development cycle with tools for automatic code generation. The controller is modeled using a three level hierarchical decomposition, where the bottom level uses a fuzzy controller, and the middle one uses a discrete-event modeling formalism based on IOPT nets (Input-Output Place-Transition Petri nets). The higher level of the description accommodates a representation of the goals sequence for a regatta contest. Complementing sailing experiments results presentation, the laboratory framework supporting the development is described, including different types of operation, namely remote operation and/or monitoring of the yacht controller, as well as local emulation of the electronic instrumentation devices allowing emulation of the controller operation in the lab.