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國立台灣海洋大學

National Taiwan Ocean University. 國立台灣海洋大學. 1/11 進度報告. 指導教授：曾慶耀 老師 李信德 老師 學生：李康維 學號： 10067036 日期： 2013/1/11. NTOU-SMCL Ship Maneuvering and Control Laboratory. Outline. 小船實驗 27-Rules 實驗 9-Rules 實驗 27-Rules & 9-Rules 軌跡比較 研討會 摘要 架構.

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國立台灣海洋大學

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  1. National Taiwan Ocean University 國立台灣海洋大學 1/11 進度報告 指導教授：曾慶耀 老師 李信德 老師 學生：李康維 學號：10067036 日期：2013/1/11 NTOU-SMCL Ship Maneuvering and Control Laboratory

  2. Outline • 小船實驗 • 27-Rules 實驗 • 9-Rules 實驗 • 27-Rules& 9-Rules 軌跡比較 • 研討會 • 摘要 • 架構 NTOU-SMCL Ship Maneuvering and Control Laboratory

  3. 1.27-Rules 實驗 NTOU-SMCL Ship Maneuvering and Control Laboratory

  4. 27-Rules test1 NTOU-SMCL Ship Maneuvering and Control Laboratory

  5. 27-Rules test2 NTOU-SMCL Ship Maneuvering and Control Laboratory

  6. 27-Rules test3 NTOU-SMCL Ship Maneuvering and Control Laboratory

  7. 2.9-Rules 實驗 NTOU-SMCL Ship Maneuvering and Control Laboratory

  8. 9-Rules test1 NTOU-SMCL Ship Maneuvering and Control Laboratory

  9. 9-Rules test2 NTOU-SMCL Ship Maneuvering and Control Laboratory

  10. 9-Rules test3 NTOU-SMCL Ship Maneuvering and Control Laboratory

  11. 3.27-Rules& 9-Rules 軌跡比較 NTOU-SMCL Ship Maneuvering and Control Laboratory

  12. 27-Rules& 9-Rules 軌跡比較圖 NTOU-SMCL Ship Maneuvering and Control Laboratory

  13. 研討會論文架構 NTOU-SMCL Ship Maneuvering and Control Laboratory

  14. NTOU-SMCL Ship Maneuvering and Control Laboratory

  15. 摘要 本文主旨為影像處理結合模糊自航控制器用於船舶自動導引進港之探討，實驗是以小型FRP船舶為測試平台，並以影像處理結合模糊自航控制器應用左右加後助航疊標導航法於船舶自動導引進港之過程。實驗之進行仍透過架設於船艏之CCD攝影機，擷取岸上疊標之影像為辨識依據，並經由計算可得視覺導航所需之航向角修正量，為了更有效的控制，本實驗之控制器以船艏偏航角、船位偏斜角和後助航疊標中心與虛擬導航線之水平夾角為三輸入模糊控制器之輸入參考，並將原始輸入之二十七條模糊規則精簡化，最後於海洋大學小艇碼頭水域進行實船測試，並以兩輸入與三輸入之模糊自航控制器進行一系列之實驗分析與探討。 NTOU-SMCL Ship Maneuvering and Control Laboratory

  16. Thank youfor your attention. NTOU-SMCL Ship Maneuvering and Control Laboratory

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