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Journal of Marine Science and Engineering · 2026 · Vol. 14 · Issue 14 · MDPI
Unmanned sailboats rely on wind and solar energy for long-duration marine missions, yet their navigation performance is strongly constrained by sail aerodynamics, hull hydrodynamics, and time-varying wind fields. Due to their underactuated nature and the critical influence of sailing speed on safety and efficiency, this paper addresses the time-optimal global path planning problem for unmanned sailboats in complex marine envir...