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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/36591

Title: Design and Application of An Image-processing-based Fuzzy Autopilot for Small-boat Approaching Maneuvers
Authors: Lee;S.D.;Tzeng;C.Y.;Kehr;Y.Z.;Kang;C.K.;Huang;C.C.
李信德;曾慶耀;柯永澤;康智凱;黃啟峻
Contributors: NTOU:Department of Transportation Science
國立臺灣海洋大學:運輸科學系
Keywords: image processing;visual guidance;approaching maneuver;fuzzy autopilot
Date: 2010-08
Issue Date: 2015-05-19T06:32:00Z
Publisher: Journal of Marine Science And Technology
Abstract: 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 ofthe 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 ofthe 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 deterrnine 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 confirrn 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 1O~20% from the exact value.
Relation: 18(4), pp.558-567
URI: http://ntour.ntou.edu.tw/handle/987654321/36591
Appears in Collections:[運輸科學系] 期刊論文

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