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题名: Design and Application of An Image-processing-based Fuzzy Autopilot for Small-boat Approaching Maneuvers
作者: Lee;S.D.;Tzeng;C.Y.;Kehr;Y.Z.;Kang;C.K.;Huang;C.C.
贡献者: NTOU:Department of Transportation Science
关键词: image processing;visual guidance;approaching maneuver;fuzzy autopilot
日期: 2010-08
上传时间: 2015-05-19T06:32:00Z
出版者: Journal of Marine Science And Technology
摘要: 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.
關聯: 18(4), pp.558-567
显示于类别:[運輸科學系] 期刊論文


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