碩士 / 國立臺灣海洋大學 / 通訊與導航工程系 / 96 / This paper is concerned with the application of image processing technique to the approaching and berthing control of a small boat. The leading line concept used by pilots in ship handling practice is adopted in this work. Specifically, two canvas targets arranged in tandem on the berth site define a leading line, which serves as the reference track to be followed in the approaching phase. Another set of canvas targets is used for berthing purpose. The images of the targets are captured by a CCD camera installed on the bow of the boat. The geometric center of the image is computed via image processing technique, and the distances between the fore and aft targets are used to compute the heading angle information needed in guiding the boat towards the reference track defined by the leading line. Moreover, the distance between the boat and the berthing site is estimated using the target image data via simple trigonometric relation. Comparison with the DGPS measurements is made to evaluate the relative accuracy of the distance estimated. The estimated distance is both used in activating the berthing mode, and used as the feedback error signal in the berthing mode. The Hue (H) and Saturation (S) components of the images are employed in the image processing, and the Internal Model Control (IMC) is used in designing the autopilot. Successful small-boat-based approaching maneuver along the reference track and berthing towards the berth indicate the feasibility of the proposed image processing-based autopilot system.
| Identifer | oai:union.ndltd.org:TW/096NTOU5300008 |
| Date | January 2008 |
| Creators | Chi-Chun Huang, 黃啟峻 |
| Contributors | Ching-Yaw Tzeng, 曾慶耀 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 147 |
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