An optimal path planning method for sailing around race marks

Optimal path planning is a key aspect in sailing contests.Proposed is an optimal path planning method for a sailboat sailing around race marks based on section optimization.A two-dimensional model for sailing was used to divide the voyage into several sections and obtain a corresponding coordinate system by a circumvolving and shifting operation.Each section utilized fuzzy comprehensive evaluation methods to find a local optimal path.The global optimal path was determined by reverting to the original coordinates.Simulation results indicate the method's effectiveness and applicability.