State Key Laboratory of Robotics;
Shenyang Institute of Automation;
Chinese Academy of Sciences;
Shenyang 110016;
China;
Institutes for Robotics and Intelligent Manufacturing;
Chinese Academy of Sciences;
Shenyang 110169;
China;
University of Chinese Academy of Sciences;
Beijing 100049;
China;
autonomous sailboat; wing sail; double sail; vortex panel method; lift coefficient;