碩士 / 國立成功大學 / 系統及船舶機電工程學系 / 106 / The main purpose of this research is the development of visual identification, stereo matching, and fuzzy control with an imaging module applied to the construction of an AUV navigation system. For the visual identification, the Hough transform method and the optical flow algorithm are combined to detect the linear features and moving speed of the images. In the stereo matching, the triangulation method is used to estimate the distance of the target. In the static test, the target to be tested is established in the stability tank at NCKU to compare the results under different degrees of brightness and turbidity in both air and underwater environments. Finally, the dynamic test results of the object are combined with a fuzzy controller and can also be used to output the rudder and plane angles as well as the rotation speed of the propeller.
| Identifer | oai:union.ndltd.org:TW/106NCKU5345011 |
| Date | January 2018 |
| Creators | Shao-YuChen, 陳劭宇 |
| Contributors | Yu-Hsien Lin, 林宇銜 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 131 |
Page generated in 0.0168 seconds