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An Interval Approach for Stability Analysis: Application to Sailboat Robotics

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2 Author(s)
Luc Jaulin ; Ocean Sensing and Mapping Research Team, Lab-STICC, Ecole Nationale Supérieure de Techniques Avancées Bretagne, 29806 Brest, France ; Fabrice Le Bars

This paper proposes an interval-based method for the validation of reliable and robust navigation rules for mobile robots. The main idea is to show that for all feasible perturbations, there exists a safe subset of the state space such that the system cannot escape. The methodology is illustrated on the line-following problem of a sailboat and then validated on an actual experiment where an actual sailboat robot, which is named Vaimos, sails autonomously from Brest to Douarnenez (i.e., more than 100 km).

Published in:

IEEE Transactions on Robotics  (Volume:29 ,  Issue: 1 )