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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/28134

Authors: Sin-Der Lee;Ching-Yaw Tzeng;Young-Zehr Kehr;Chih-Kai Kang;Chi-Chun Huang
Contributors: NTOU:Department of Communications Navigation and Control Engineering
Keywords: image processing;visual guidance;approaching maneuver;fuzzy autopilot
Date: 2010
Issue Date: 2011-10-21T02:35:59Z
Publisher: Journal of Marine Science and Technology
Abstract: This paper presents an image-processing-based fuzzy autopilot scheme for accomplishing small-boat approaching maneuvers in a harbor environment. In the proposed approach, two canvas targets are arranged in cascade on the quayside to
form a leading line. The targets are detected by a charge coupled device (CCD) camera mounted on the bow of the boat, and their geometric centers are computed by a Hue- and Saturation-based image-processing scheme. The autopilot system calculates the current heading deviation and tracking deviation angles of the boat by analyzing the displacements of the target centers relative to the CCD center line. These angles
are then supplied to a fuzzy-logic-based control system to determine the rudder commands required to bring the boat back on course. During the approaching maneuver, the autopilot system estimates the distance between the boat and the
quayside using a simple trigonometric relationship, and at a certain pre-defined distance, automatically switches the steering
control system from an approach mode to a berthing
control mode. The experimental results obtained using a small FRP boat confirm the ability of the autopilot system to accomplish the approaching maneuver and show that the estimated value of the boat-to-quayside distance deviates by approximately 10~20% from the exact value.
Relation: 18(4), pp.558-567
URI: http://ntour.ntou.edu.tw/handle/987654321/28134
Appears in Collections:[通訊與導航工程學系] 期刊論文

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