Control algorithm is based on a low level strategy : the traveler calculates the heading of the next waypoint to reach and gives this desired heading to the helmsman. Helmsman adapts the actual heading to the apparent wind direction (avoiding to sail in the forbidden -45°/45° range) and decides to tack if the desired heading is more than 20 degrees across the wind direction. The trimmer constantly adapt the sail angle in order to maximize the boat’s speed. A simulation model as been developed in order to test control strategy prior to each real test.