| Summary: | 碩士 === 國立臺灣大學 === 應用力學研究所 === 85 === GPS, fuzzy control, electronic compass, and wireless data link are integrated
to achieve the objective of navigation and control of an unmanned boat in this
thesis. The position and the heading of the boat are obtained from GPS receiver
with FKGPS (Fast Kinematic GPS) algorithm and electronic compass, respectively.
Two control modes, track-keeping control and turning control, are developed by
fuzzy control theory in control system. The reference path is
divided into these
two control modes to ensure that the unmanned boat can trace
any path efficiently.
The moving station (ie., unmanned boat) and the riverside base
station communicate
with each other through wireless data link equipment. The moving station on the
unmanned boat collects measurement data, sends to the base
station, and executes
the commands from the base station. On the other hand, the base
station receives
the data from the moving station, computes the position, and issues control
commands after invoking the fuzzy controller. The experimental
results show that
unmanned boat can effectively trace any designed path within 50
cm mean position
error.
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