نمايش پست تنها
قديمي ۰۶-۳۱-۱۳۹۰, ۰۲:۰۵ قبل از ظهر   #4 (لینک دائم)
PowerOfMind Male
Active users
 
آواتار PowerOfMind
 
تاريخ عضويت: مرداد ۱۳۹۰
محل سكونت: Pixels
پست ها: 25
تشكرها: 19
105 تشكر در 25 پست
My Mood: Bitafavot
ارسال پيغام Yahoo به PowerOfMind
پيش فرض

DESIGN AND APPLICATION OF AN
IMAGE-PROCESSING-BASED FUZZY
AUTOPILOT FOR SMALL-BOAT APPROACHING
MANEUVERS


This paper presents an image-processing-based fuzzy auto-
pilot 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 of the 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 of the 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
determine the rudder commands required to bring the boat
back on course. During the approaching maneuver, the auto-
pilot 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 steer-
ing control system from an approach mode to a berthing
control mode. The experimental results obtained using a small
FRP boat confirm 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 10~20% from the exact value.
__________________


There are only 10 types of people in the world

Those who understand binary and those who don't
PowerOfMind آفلاين است   پاسخ با نقل قول
از PowerOfMind تشكر كرده اند:
Astaraki (۰۷-۲-۱۳۹۰), ayfer.a11 (۰۷-۱-۱۳۹۰), green_Dream (۰۷-۱۰-۱۳۹۰), ida77 (۰۸-۱-۱۳۹۳)