碩士 / 國立臺灣大學 / 電機工程研究所 / 84 / In this thesis, DGPS(Differential Global Positioning System),
fuzzy control and wireless data link are combined to achieve
the object of navigation and control of an unmanned boat. The
position coordinate of the unmanned boat is obtained from the
on board DGPS receiver. The navigation and fuzzy control
computations are executed by the offshore reference station
computer. The radio communication equipment plays the role of a
bridge between the boat and the reference station: the
coordinate of the boat is reported to the reference station and
the control command is transferred to the boat. In the computer
of the reference station, a comparison is made between the
position of the unmanned boat and the planned path, The error
will become the input of the fuzzy controller. A rudder command
will then be produced and transmitted to the unmanned boat
through wireless data link. On the unmanned boat, a single-
board computer based on 386 CPU will take care of the control
command. Through 8051 single-chip microprocessor, PWM(Pulse
Width Modulation) will be generated to control rudder angle,
thus the object of auto steering is achieved. In addition, a
fathometer is installed in the unmanned boat to detect the
depth of the water. The measured data together with the
corresponding position coordinate are sent to the reference
station via wireless communication. At reference station, the
trajectory of the unmanned boat is real time plotted on the
computer screen. Thus, we can monitor the whole process of our
experiment.
| Identifer | oai:union.ndltd.org:TW/084NTU00442091 |
| Date | January 1996 |
| Creators | Kuen-Yuan, Twu, 涂昆源 |
| Contributors | Fan-Ren, Chang; Li-Sheng, Wang, 張帆人；王之昇 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 79 |
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