Steering a Swarm of Autonomous Sailing Vehicles implementing Biomimetic SANET Middleware
- Publisher:
- University of Technology, Sydney
- Publication Type:
- Conference Proceeding
- Citation:
- 1st Australian Conference on the Applications of Systems Engineering ACASE'12, 2012, pp. 1-2
- Issue Date:
- 2012-01
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Filename | Description | Size | |||
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Steering a Swarm of Autonomous Sailing Vehicles implementing Biomimetic SANET Middleware.pdf | Accepted version | 77.84 kB |
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This paper describes the incorporation of object tracking heuristics with a dynamic sailing model for surface sailing vessels, using the maneuvering approach by Jouffroy (2009). A simplified dynamic model is simulated, with a path generation scheme and controller for a fundamental maneuver in sailing known as tacking. In addition, this maneuver is incorporated with obstacle algorithms for detection and avoidance. The incorporation of Sensor-Actor Networks (Sanets) in the sailing vessel makes it possible to incorporate sensors in the structure to monitor localized obstacles in an energy efficient manner, while statistical data is relayed to a centralized base station for post-processing and analysis of global environmental conditions.
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