碩士 / 國立臺灣海洋大學 / 通訊與導航工程學系 / 103 / This work is concerned with the design and experiment of signal processing and fuzzy logic-based small boat automatic harbour entering control system in low visibility or night time condition. Typically, human pilots are preferred over autopilots during harbour entering maneuver because of their better adaptive capability and sensitivity to visual cues needed in ship handling. However, human pilots’ability to obtain reliable visual information is significantly reduced in low visibility conditions. Hence, machine vision-based system is sought to help or replace human pilots during night time harbor entering maneuvers. Specifically, a CCD camera mounted on the bow of an FRP boat is used to acquire images of the LED leading marks that define the leading line during harbour entry. The center of gravity of the captured images is computed via Labview/vision builder AI to find the deviated heading angle and the distance from the boat to the leading marks needed for the fuzzy autopilot to steer the boat along the leading lines. The limited emission angle of the LED lights causes nonuniform LED color emission, which might reduce the identifiability of the LED leading marks, and results in certain distance estimation error; hence, poor track-keeping performance. An Optical Diffuser Plate is placed in front of the LED light marks to produce uniform LED color emission and the signal processing-based distance estimation becomes more reliable. Successful experiments carried out at the National Taiwan Ocean University small boat harbor indicate that the proposed signal processing and fuzzy logic-based autopilot system is capable of guiding the boat along Z shapes routes defined by LED light marks in the night time.
| Identifer | oai:union.ndltd.org:TW/103NTOU5300036 |
| Date | January 2015 |
| Creators | Lu, Cheng-Lun, 呂政倫 |
| Contributors | Tzeng, Ching-Yaw, Lee, Sin-Der, 曾慶耀, 李信德 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 105 |
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