Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Design And Application Of An Image-Processing-Based Fuzzy Autopilot For Small-Boat Approaching Maneuvers, Sin-Der Lee, Ching-Yaw Tzeng, Young-Zehr Kehr, Chih-Kai Kang, Chi-Chun Huang
Design And Application Of An Image-Processing-Based Fuzzy Autopilot For Small-Boat Approaching Maneuvers, Sin-Der Lee, Ching-Yaw Tzeng, Young-Zehr Kehr, Chih-Kai Kang, Chi-Chun Huang
Journal of Marine Science and Technology
This paper presents an image-processing-based fuzzy autopilot 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 …