A Biomimetic SANET Middleware Infrastructure for Guiding and Maneuvering Autonomous Land-Yacht Vessels

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Advanced Methods and Applications in Computational Intelligence, 2014, 1, pp. 265 - 283
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This chapter elaborates an approach of guiding land-yachts according to a predefined maneuvering strategy. The simulation of the path as well as the controller scheme is simulated for a sailing strategy (tacking), where the scheme of the resultant path and the sailing mechanism is driven using Sensor-Actor Network (Sanet) middleware infrastructure. The addition of obstacle avoidance and detection heuristics aids in the guiding process. By incorporating Sanets in the sailing craft, a range of sensory mechanisms can be employed to monitor and handle local obstacles in an effective manner, while data collated from the sensory environment can be transmitted to a base station node for monitoring conditions from a holistic dimension.
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