| Summary: | 碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 97 === This work is concerned with the application of image processing-based guidance method and Internal Model Control (IMC) to the approaching and berthing control of a small boat. During the approaching maneuver, a boat-based CCD camera is used in acquiring the images of two leading marks placed near the berth, and the computed deviated heading angle is fed into the IMC autopilot to steer the boat towards the leading line defined by the leading marks, During the berthing maneuver, shore-based CCD camera is used in acquiring the images of targets placed at the bow and stern of the boat and the geometric features of the images are analyzed with a shore-based pc to determine the heading of the boat. The computed heading angle is transmitted to the boat via wireless network, and this heading information along with a distance information can be fed into the berthing controller to achieve automatic berthing exclusively relies on information determined with image processing techniques. The experiments adopt the Matlab/Simulink xpc target and the Labview/Vision Build AI environments and the data communication is achieved through EKI wireless network and AP equipment. The shore-based CCD camera captures the images of yellow and blue cylindrical targets placed at the bow and stern of the boat respectively and the saturation component is used in the identification of the targets. Specifically, the boat is rotated manually and the images are processed to determine the realiability of the adopted image processing method. The shore-based image processing unit provides the heading angle does meet the accuracy requirement for berthing control purpose. Finally,a small boat-based experiments are conducted in the small boat harbour attached to the NTOU, and the experimental results indicate the feasibility of use of the image processing technique in providing the guidance information for track keeping and berthing control.
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