碩士 / 國立臺灣海洋大學 / 機械與機電工程學系 / 101 / A system for autonomous sailboat control, navigation, and simulation is proposed in this study. For the simulation, dynamic equations of sailboat motion are derived. Then, a simulation platform for sailboat motion is established by combining the dynamic equations with Handle Graphics utility of MATLAB in order to test the control and navigation algorithms for autonomous sailboat.
On the autonomous sailboat, an eight-core microcontroller is used to collect the boat motion and wind measurements acquired by various sensors, and to handle the control and navigation tasks. Furthermore, all the data is transmitted to an on-shore monitoring system via a wireless transmission module. The sail angle and rudder angle are controlled by PID controller. The navigation of sailboat utilizes GPS position to calculate the heading to the target.
| Identifer | oai:union.ndltd.org:TW/101NTOU5491023 |
| Date | January 2013 |
| Creators | Jia-Xing Li, 李家興 |
| Contributors | Luen-Woei Liou, 劉倫偉 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 77 |
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