| Summary: | 碩士 === 國立臺灣大學 === 工程科學及海洋工程學研究所 === 99 === The autonomous surface craft (ASC) is as small size craft to perform autonomous survey missions mainly in river and coastal waters. Collecting oceanographic data, survey underwater environments, data transmission, and auxiliary rescue are the missions for the ASC. This study provides the design and the development of a solar-powered autonomous surface craft. It discusses the mechanical design, the motion controller design, the localization and navigation algorithm, and the construction of human-machine interface. The ASC design includes mechanical design, hydrostatics data and principal dimensions values, resistance performance, and seakeeping performance. Small waterplane area twin hull (SWATH) is selected for the ASC type. Comparing to the general vessel, SWATH has a good seakeeping performance, broad platform area, and stable maneuvering function which these characteristics are required in this study. Automatic Identification System (AIS) is used for communication with the shore base station and GPS localization function. The motion controller used PID control theory, combining with DVL and GPS information to satisfy a radius of acceptance. Localization algorithm integrates sensors data and extended Kalman filter theory. Human-machine interface is build by an interactive website which combines with Google Maps. Users could monitor the ASC information and design survey paths in any place where the ASC could connect the internet. These functions made the missions execution more convenient for users.
|
|---|
