2009-02-262024-05-15https://scholars.lib.ntu.edu.tw/handle/123456789/665830摘要：本計畫之研究目標為設計、製作與測試一具自主式無人工作小船，此無人工作船採用穩定之船型設計，利用太陽能與充電電池驅動。本計畫研究內容包含建立自主式無人船舶在淺海與碎浪區域之精密導航定位與路徑追隨自動控制系統，以及自主式無人船舶之路徑規劃與任務控制系統設計。此工作船可攜帶多種量測儀器，自動施行港口之水深、水流剖面、地形、沈積物資料蒐集與測量等工作，且可將資料藉由無線電波傳送至岸上之監控電腦。預期可以提升各港務局水深測量，海巡署搜救，各學術單位海岸調查，內政部國土測繪等無人遙控載具的運用與工作效率。<br> Abstract: The objective of the project is the development and integration of advanced technological systems to achieve an operation of an Autonomous Surface Craft (ASC) ensuring a fast data collecting and stable station keeping platform in an harbor and near-shore or shallow water environment. Research issues are examined including ASC design and advanced control, guidance and mission control. Functional requirements of the ASV are: 1.Dynamic positioning/station keeping in water currents. 2.Navigation and control of its own position and posture. 3.Imaging and data collection using on board sensors. 4.Flexibility in choosing payload equipments. 5.Ability to work long-range and long-time by solar and battery power. 6.Interface is friendly to the operator. The analysis and design methodology developed for this project will lead to deeper understanding of ASC systems that are efficient for marine observations. The advantages are expected that, in addition to safer and less expensive than manned vehicles, this robotic vehicle can be effective for bathymetric survey, environmental monitoring and sampling, and costal defense tasks.無人船舶導航定位太陽能路徑控制海洋測量ASVnavigationpositioningsolar powertrajectory controlmarine environmental monitoring智慧型太陽能遙控近岸測量船之研究(1/4)