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Communication Dans Un Congrès Année : 2015

Towing with sailboat robots


Moving huge objects floating at the surface of the ocean (such as containers or icebergs) with boats requires many human operators and a lot of energy. This is mainly due to the fact that when humans operate such equipment, time is costly. Now, when we have time (as when robots operate, for instance), it is possible to move arbitrarily large objects, for over long distances, with a limited quantity of energy. This is a consequence of the fact that in the water, the friction forces are proportional to the square of the speed (i.e., when we go slowly, we have almost no friction). This paper proposes the use of a sailboat robot to tow large objects. It shows which control law could be used is order to (i) avoid loops inside the towing cable, (ii) avoid collisions between the robot and the towed object, and (iii) move the object toward the desired direction. The control law is validated on a simulation where the object to be towed has to follow a trajectory corresponding to a large circle.

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Dates et versions

hal-01122035 , version 1 (03-03-2015)


  • HAL Id : hal-01122035 , version 1


Luc Jaulin, Fabrice Le Bars. Towing with sailboat robots. WRSC/IRSC 2014, NUI Galway, Sep 2014, Galway, Ireland. ⟨hal-01122035⟩
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