碩士 / 國立成功大學 / 系統及船舶機電工程學系碩博士班 / 97 / The main purpose of the thesis is to establish a visual servo control system for autonomous underwater vehicle（AUV）to track pipeline, and by the use of buoyancy, thruster, visual servo system and PID controller to accomplish the tasks. In the hardware construction, the control system is consisting of highly extendable embedded system. Gyro and electronic pressure sensor are used to determine the position and depth of the AUV. User can manipulate the AUV on the human machine interface on board directly by WLAN.
Both bow and stern are equipped with the buoyancy system. It can control pitch and heave. It is driven by stepping motor, can control the inlet precisely. The design cruising depth is 50m, maximum to 100m. In order to satisfy the DOF to track pipeline, it has two side thruster located at bow and stern, and a main thruster. The image feedback is provided by CMUCam2+, and calculates the angle between the pipeline and AUV.
| Identifer | oai:union.ndltd.org:TW/097NCKU5345041 |
| Date | January 2009 |
| Creators | Po-Chieh Lu, 盧柏杰 |
| Contributors | Chung-Hung Lin, 林忠宏 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 63 |
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