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CSME 2019/06
Volume 40 No.3 : 249-255
 
Guidance Law Design of Unmanned Robot Boats Based on Vision Navigation

Yung Hsiang Chena, Yung Yue Chenb, Jau Ming Huangb and Nai Zen Guoc
aDepartment of Mechanical Engineering, National Pintung University of Science and Technology, Pingtung, Taiwan 91207, ROC.
bDepartment of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan, Taiwan 70101, ROC.
cDepartment of Arts Andcrafts, Tungfang Design University, Kaohsiung, Taiwan 82941, ROC.


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.

Keywords:  Guidance Law Design, Unmanned Robot Boats, Vision Navigation.

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*Corresponding author; e-mail: yungyuchen@mail.ncku.edu.tw
© 2019  CSME , ISSN 0257-9731 





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