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研究生： 潘弘儒
Pan, Hung-Ju
論文名稱： 由模糊控制實現無人載具的導引及導航
Realization of Unmanned Vehicle Guidance and Navigation using Fuzzy Control
指導教授： 林清一
Lin, Chin E.
學位類別： 碩士
Master
系所名稱： 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年： 2011
畢業學年度： 99
語文別： 英文
論文頁數： 78
中文關鍵詞： USV 、UAV 、導引與導航 、模糊控制
外文關鍵詞： USV, UAV, Guidance and Navigation, Fuzzy Control
相關次數： 點閱：72  下載：4 
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    • 本篇論文主旨在於使用GPS接收天線、單晶片以及由加速規與陀螺儀所組成的慣性量測單元來達成無人載具的自主導引與導航。使用的無人載具有兩種，分別是無人飛行載具與水上無人載具。無人載具控制板上面的單晶片會讀取GPS天線的資料得知自身位置並演算出與任務航點之間的方向與距離，並且依據無人載具的姿態使用模糊控制演算控制角度，再輸出至伺服機，改變無人載具姿態以依序經過程式中所指定的航點。並且，無人載具的資料會與地面站做資料上傳與下傳更新的動作。

    The main object of this thesis is to realize autonomous guidance and navigation of unmanned vehicle using GPS receiver, microprocessor, and IMU which is a combination of accelerometers and gyroscopes. There are two kinds of unmanned vehicles discussed in this thesis; they are unmanned aerial vehicle (UAV) and unmanned surface vehicle (USV). The on board microprocessor will acquire its latitude and longitude from the GPS receiver, and compute the distance and heading between UAV/USV and target waypoint. According to the attitude of UAV/USV, the on board microprocessor will compute the control value by using fuzzy logic control (FLC). Using the control value which is computed by FLC, the on board microprocessor outputs the PWM signals to servos to change the maneuver so the UAV/USV can pass through the target waypoint sequentially. In addition, the on board microprocessor can uplink and downlink data with the ground control station to update the waypoint, save and display the flight data.

    ABSTRACT i ABSTRACT IN CHINESE ii ACKNOWLEDGMENT iii CONTENTS iv LIST OF TABLES vii LIST OF FIGURES viii CHAPTER I 1 INTRODUCTION 1 1.1 Motivation 1 1.2 Main Idea 3 1.3 Literature Survey 6 1.4 Thesis Outline 9 CHAPTER II 10 Fuzzy Logic Formulations 10 2.1 Concepts and Methods of Fuzzy Logic Controller Design 10 2.1.1Fuzzy Logic Controller Design of USV 12 2.1.2 Fuzzy Logic Controller Design of UAV 17 2.2 Control Method and Implementation 24 2.3 Guidance and Navigation System Algorithm 27 2.3.1 Calculation of the Real Heading Correction 28 2.3.2 Algorithm of Waypoint Switching 28 CHAPTER III 32 USV System Configuration and Operation 32 3.1 Unmanned Surface Vehicle Description 32 3.2 USV Hardware 34 CHAPTER IV 37 UAV System Configuration and Operation 37 4.1 Unmanned Aerial Vehicle Description 37 4.2 UAV Hardware 39 4.3 Software Design of Ground Control Station 41 CHAPTER V 43 USV System Verification 43 5.1 Experiments of USV Autonomous Guidance and Navigation 43 5.2 Test at Tseng-Wen Reservoir 44 5.3 Test pattern orbit-left at Tainan canal 47 5.4 Test pattern 8 at Tainan canal 50 5.5 Discussion 53 CHAPTER VI 55 UAV System Verification 55 6.1 Experiments of UAV Autonomous Guidance and Navigation 55 6.2 Autonomous Guidance and Navigation Test at Dawan 55 6.3 Autonomous Guidance and Navigation and Altitude Test at Saijia 64 6.3 Discussion 69 CHAPTER VII 71 Conclusion and Future Work 71 7.1 Conclusions 71 7.2 Future Works 73 References 75 VITA ……………………………………………………………………………………..78

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