碩士 / 國立臺灣海洋大學 / 商船學系所 / 96 / Route planning is an important part of navigation. Current literature including sailing computations and obstacle avoidance methods mainly focuses on assisting the computer programming of route planning. Most research with regard to sailing computations aims at deriving direct functions to facilitate routing calculations. On the other hand, the objective of obstacle avoidance methods is to obtain the shortest routes based on multi-dimension algorithms. However, due to the nature of the raster data, it is difficult to apply such techniques to the electronic charts which are based on the vector format. In addition, such approaches acquire results based on the consideration of shortest-distance, resulting in producing too many waypoints. This is not the custom practice in navigation. Therefore, the development of an obstacle avoidance method practical for navigation is important.
The purpose of this study is to develop an automatic route planning module for obstacle avoidance on vessel navigation. This is achieved by establishing a navigated obstacle avoidance model with framework, on the basis of the obstruction avoidance concept for an Autonomous Land Vehicle (ALV), which is capable of considering a variety of obstacle conditions to provide the avoidance routes in combination with the smooth and simplification process. The model proposed consists of the procedure of the sailing computations, the assessment process of prohibitive navigation areas, the routing smooth and simplification procedure and waypoint adjustment function is programmed individually and subsequently verified based on multi-scenario tests to ensure that the objectives of each module are satisfied. These modularized programs are then integrated into an automatic route planning aided system for navigated obstacle avoidance using Visual Basic Application (VBA) function provided by Geographic Information System (GIS). Finally, the system is demonstrated by five different case studies and the integrated framework is capable of producing obstacle avoidance routes. It is concluded that the integrated system developed is a practical obstacle avoidance method for navigation.
| Identifer | oai:union.ndltd.org:TW/096NTOU5728035 |
| Date | January 2008 |
| Creators | 賴奕安 |
| Contributors | Chao-Kuang Hsueh, 薛朝光 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 103 |
Page generated in 0.0126 seconds