Design, Modeling, and Simulation of a Wing Sail Land Yacht

Autonomous land yachts can play a major role in the context of environmental monitoring, namely, open, flat, windy regions, such as iced planes or sandy shorelines. This work addresses design, modeling, and simulation yacht probe equipped with rigid free-rotating wing sail tail flap. The was designed symmetrical airfoil dimensions to provide necessary thrust displace vehicle. Specifically, it proposes novel design method for free rotating autonomous yachts. relies on Gazebo simulator together Robotic Operating System (ROS) middleware. It uses modified aerodynamics plugin generate lift drag forces yawing moment, two newly created plugins, one act wind sensor other set flap angular position, 3D model Fusion 360. aligns automatically direction be any given angle attack, stabilizing after few seconds. Finally, obtained polar diagram characterizes expected sailing performance yacht. described adopted evaluate different configurations, well control techniques,