碩士 / 國立臺灣海洋大學 / 通訊與導航工程系 / 97 / Abstract
An image processing-based automatic approaching and berthing control of a small boat is discussed in this work and both the course control autopilot used in the approaching maneuver and the berthing control autopilot designs are based on fuzzy logic rules. Two canvas targets are arranged in tandem to form a leading line that defines the reference track to be followed during the approaching phase. The image of the targets are captured by a CCD camera mounted on the bow of the boat, and the Hue(H) and the Saturation(S) components of the image are employed in the image processing during the approaching maneuver. Specifically, the geometric centers of the targets are computed via image processing technique and the distances between the fore and aft targets are used to compute the heading angle information needed in steering the boat towards the reference track. A trigonometric relation is used along with the target image information in estimating the distance between the boat and the berth site. The estimated distance is used in deciding the proper timing to switch into the berthing mode. A DGPS-based distance measurement is used to determine the relative error induced by the proposed distance estimation method. The images of two targets placed on the boat are captured by a CCD camera mounted on the shore and the shore-based image-processing unit uses only the Saturation(S) component of the image during the berthing maneuver. The geometric shape of the targets of the boat determinied via image processing technique is compared with templates image data base to determine the heading angle and distance information, which is transmitted via wireless network to the boat as the inputs to the fuzzy controller during the maneuver berthing. The software tools adopted in the experiments include MATLAB/Simulunk xPC Target and LABVIEW. Experimental results reveal that the boat is able to steer towards the intended track using image processing-based guidance method, and the heading angle based berthing control method is able to move boat sidewards to the berth.
| Identifer | oai:union.ndltd.org:TW/097NTOU5300004 |
| Date | January 2009 |
| Creators | Ching-Nien Chen, 陳鏡年 |
| 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 | 161 |
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