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Prova de varrimento de área em competição de veleiros com navegação autónoma
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A competição internacional de veleiros autónomos WRSC (World Robotic Sailing Championship)
realiza-se anualmente tentando reunir a comunidade académica ativa na área.
Esta competição é composta por quatro provas, sendo que o objetivo desta dissertação foi
implementar uma solução para uma delas: a prova de varrimento em área. Esta prova
consiste em varrer uma área definida por bóias sinalizadoras e compostas por quadrículas,
tendo uma duração máxima de 30 minutos. Cada quadrícula equivale a um ponto
e é apurado o vencedor da prova que percorrer um maior número de quadrículas num
período mais curto.
Antes de abordar diretamente o problema, foi necessário entender primeiramente
o contexto do mesmo, mais especificamente, alguns conceitos de navegação à vela, outros
trabalhos relacionados, tecnologias utilizadas e claro, o projeto base que vem sido
implementado ao longo dos anos por antigos alunos.
Foi proposta uma solução flexível, onde o veleiro deve ter capacidade de decidir a sua
estratégia de navegação consoante a leitura inicial (antes da prova começar) da direção
do vento, tendo várias opções de tipos de varrimento. Além disso, também possui um
mecanismo que permite recalcular o trajeto de varrimento na ocorrência de dificuldades
de navegação, por exemplo, para evitar ser desqualificado (não exceder o tempo máximo
da prova).
A solução, depois de implementada, foi submetida a testes, nomeadamente validação
do cálculo do trajeto, simulações de navegação e por último um exercício organizado pela
Marinha Portuguesa que permitiu o teste do veleiro no mar.
The international autonomous sailboat competition WRSC (World Robotic Sailing Championship) is an international competition of autonomous sailboats which is held annually to bring together the academic community active in the area. This competition is constituted by four tests, and the purpose of this dissertation was to implement a solution for one of them: the area scanning test. This test consists of scanning an area marked by buoys and composed of grids, having a maximum duration of 30 minutes. Each grid corresponds to one point and the sailboat that travels the largets number of squares in less time is considered winner. Before addressing the problem directly, it was necessary to first understand the context of the problem, more specifically some sailing concepts, other related works, technologies used and the basic project that has been implemented over the years by previous students. A flexible solution has been proposed, where the sailboat must be able to decide its navigation strategy according to the initial (before the competition starts) wind direction reading, having several options of scanning types. In addition, it also has a mechanism that allows the recalculation of the scan route in the event of navigation difficulties, for example, to avoid being disqualified (not exceeding the maximum time of the test). The solution, once implemented, was tested, namely the validation of the route calculation, navigation simulations and finally an exercise organized by the Portuguese Navy that allowed the sailboat to be tested at the sea.
The international autonomous sailboat competition WRSC (World Robotic Sailing Championship) is an international competition of autonomous sailboats which is held annually to bring together the academic community active in the area. This competition is constituted by four tests, and the purpose of this dissertation was to implement a solution for one of them: the area scanning test. This test consists of scanning an area marked by buoys and composed of grids, having a maximum duration of 30 minutes. Each grid corresponds to one point and the sailboat that travels the largets number of squares in less time is considered winner. Before addressing the problem directly, it was necessary to first understand the context of the problem, more specifically some sailing concepts, other related works, technologies used and the basic project that has been implemented over the years by previous students. A flexible solution has been proposed, where the sailboat must be able to decide its navigation strategy according to the initial (before the competition starts) wind direction reading, having several options of scanning types. In addition, it also has a mechanism that allows the recalculation of the scan route in the event of navigation difficulties, for example, to avoid being disqualified (not exceeding the maximum time of the test). The solution, once implemented, was tested, namely the validation of the route calculation, navigation simulations and finally an exercise organized by the Portuguese Navy that allowed the sailboat to be tested at the sea.
Descrição
Palavras-chave
Veleiro WRSC Varrimento em área Navegação Estratégia Tipos de varrimento