Show simple item record Sauze, Colin Neal, Mark 2010-06-22T07:51:29Z 2010-06-22T07:51:29Z 2010-06
dc.identifier.citation Sauze , C & Neal , M 2010 , ' A Raycast Approach to Collision Avoidance in Sailing Robots ' . en
dc.identifier.other PURE: 150032
dc.identifier.other PURE UUID: eda63719-ed5c-4aa1-b128-0f92f9930247
dc.identifier.other dspace: 2160/4680
dc.description C. Sauze and M. Neal (2010), A Raycast Approach to Collision Avoidance in Sailing Robots, in proceedings of the 3rd International Robotic Sailing Conference, Kingston, Ontario, Canada, June 6th-10th 2010 en
dc.description.abstract This paper presents a simple mechanism for an autonomous sailing robot to detect when it is within close proximity to fixed obstacles and a reactive mechanism to avoid those obstacles. This is achieved by using a raster based map of the local area and raycasting from the boat's current position in order to determine the distance and heading to the nearest coastline. Once this is determined a new target heading which does not result in any immediate danger is computed. Simulations have shown that it is possible for a robot to sailing between a set of waypoints while avoiding obstacles placed between those waypoints. This method has been shown to be capable of selecting a sensible course and avoiding collisions in most cases, however when the robot becomes trapped in small inlets or between groups of tightly packed islands it can fail to find a suitable course. en
dc.language.iso eng
dc.title A Raycast Approach to Collision Avoidance in Sailing Robots en
dc.type /dk/atira/pure/researchoutput/researchoutputtypes/contributiontoconference/paper en
dc.contributor.institution Department of Computer Science en
dc.contributor.institution Intelligent Robotics Group en
dc.description.status Non peer reviewed en

Files in this item

Aside from theses and in the absence of a specific licence document on an item page, all works in Cadair are accessible under the CC BY-NC-ND Licence. AU theses and dissertations held on Cadair are made available for the purposes of private study and non-commercial research and brief extracts may be reproduced under fair dealing for the purpose of criticism or review. If you have any queries in relation to the re-use of material on Cadair, contact

This item appears in the following Collection(s)

Show simple item record

Search Cadair

Advanced Search