具視覺導航功能之無人船導引律設計

Translated title of the contribution: Guidance Law Design of Unmanned Robot Boats Based on Vision Navigation

Yung Hsiang Chen, Yung Yue Chen, Jau Ming Huang, Nai Zen Guo

Research output: Contribution to journalArticlepeer-review

Abstract

A guidance law design is proposed for unmanned robot boats based on the fuzzy control and vision navigation in this investigation. The whole control system contains: 1. a fuzzy based control design, 2. one vision sensing methodology, and 3. a difference design for two propellers, for the purpose of controlling the speed and heading angle of the unmanned robot boats. Images captured by the vision sensing device are used to infer the relative distance between the guided unmanned robot boat and navigation marks. Based on relative distances and light of sight angle error, a fuzzy guidance law is then developed to control the velocity and heading angle of the robot boat via rotating the propellers with different rotation speed, respectively. For demonstrating the control performance of this proposed guidance law, a real robot boat is implemented and evaluated through real experiments. From the practical tests, a promising guidance performance can be obtained.

Translated title of the contributionGuidance Law Design of Unmanned Robot Boats Based on Vision Navigation
Original languageChinese
Pages (from-to)249-255
Number of pages7
JournalJournal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
Volume40
Issue number3
Publication statusPublished - 2019 Jun 1

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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