Exploring the World of Land Yachts
Dive into the fascinating realm of land yachts, innovative vehicles powered by wind, as we uncover their challenges, autonomous objectives, sensor technologies, obstacle avoidance mechanisms, and intriguing speed records. Join us on this wind-powered adventure!
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Presentation Transcript
IMDL Spring 2012 LandYachtBot Michael Feliciano
Overview What is a land yacht? Challenges of sailing Autonomous Objectives Sensors Obstacle Avoidance Questions? Comments? Concerns?
What is a Land Yacht? A modern land yacht is a three-wheeled vehicle which is powered entirely by wind.
Challenges of Sailing While sailing downwind or even perpendicular to the wind, sailing is rather rudimentary. When sailing into the wind, however, you have to make several turns back and forth to go forward. This repeated turning is called tacking. (See image)
Autonomous Objectives LandYachtBot will attempt to navigate a set of GPS waypoints while performing obstacle avoidance. The GPS waypoints will be arranged in such a way that the yacht will have to sail both with and, more importantly, against the wind. A simple, four-cornered box with two sides parallel to the wind direction would accomplish this, for example.
Sensors A anemometer and wind vane will measure wind speed and direction. A GPS system will be used for navigation. A gyro or IMU will be used to measure acceleration, velocity, position, and roll. A compass will be used to determine heading. A front-mounted sonar will be used to detect obstacles.
Obstacle Avoidance LandYachtBot will use a sonar to detect objects directly in front of it. If it detects an object, a brake will deploy and the tension in the sail will be slacked, bringing the yacht to a stop. Additionally, if the wind is blowing hard enough to push the yacht on to two wheels, the sail will be slacked to slow the yacht until all three wheels are again on the ground.
Questions? Comments? Concerns? Fun Fact: The current land yacht speed record is 126.2 mph (wind speeds during record run were 30 50 mph). Record set by land yacht Greenbird (pictured left) on March 26, 2009. It was piloted by Richard Jenkins. Note: All credit goes to Wikipedia for information on this slide. All images in presentation belong to their respective owners.
