本研究延續實驗船現有水深量測與太陽能供電系統，整合導航與無線通訊系統來實現一自主式太陽能輔助動力船來達到固定航向追蹤、航向變換追蹤、自主式路徑航行。
導航系統中運用Holux M87 GPS模組與電子羅盤HM55B計算出實驗船到達目標點之導航角與距離，設計兩種模糊航向控制器(一維、二維)進行航向追蹤並比對控制器性能，實驗船的自主式航行指令以及即時監控數據則藉由無線通訊系統與岸邊遠端人機進行資料與指令傳輸。
實驗船之太陽能輔助電力應用則根據船上太陽能發電系統整合二次式極值法之最大功率追蹤技術達成。水深量測系統藉由自製超音波接收模組或市售水深讀取錶頭Navman Depth2100來擷取將水聲感測器TC-2111水深資訊。
將上述四個子系統整合於美商國家儀器的compactRIO(cRIO)嵌入式控制器，並結合cRIO周邊模組進行軟硬體整合，吾人開發出一艘具有自主式航行能力之太陽能輔助動力船，根據各種不同設計之路徑，實驗船能有效的進行水下地貌探測並節省人力操控資源。

The purpose of this study using navigation system and present resources to realize an autonomous solar ship, with new system integration, the ship can achieve course keeping, course changing tracking, autonomous waypoint tracking.

The navigation system combine Holux M87 GPS module with electronic compass HM55B, from above sensor's information and using approximate calculation to get navigation information (navigation angle & distance).

Designs two Fuzzy course controller proceeding course tracking and compare two controller’s turning performance. The autonomous cruise commands and ship real time monitoring data use wireless communication system transferring data and commands between PC host and ship.

Photovoltaic system uses the quadratic maximization algorithm combining with PWM duty cycle adjustment to track the maximum power point of the solar panel. It effectively harvests electric energy from the sun and stores in the battery. In depth measurement system, uses self-developed ultrasonic module or depth meter Navman Depth-2100 to get depth information from hydrophone TC-2111.

Finally, the four subsystems are integrated by using National Instruments compactRIO and signal conditioning modules, thus an "autonomous solar ship" is developed. According to designate paths, the autonomous solar ship can do underwater geographic survey effectiveness and economize on human resources.

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