本研究結合了模糊理論，並整合於美商國家儀器的myRIO嵌入式控制器，通過使用LabVIEW編寫程式並結合感測器進行軟硬體整合，達成點對點的航線追蹤之目的。
感測器運用GPS模組與陀螺儀計算出實驗船與目標點之間的導航角與距離，前人在參數上以設定角度與實際航向角計算的誤差角及誤差角度變化量作為輸入並輸出舵角進行控制，但往往會因為海浪、流等因素產生5~8m的偏移量，所以吾人採用誤差角及偏移量作為輸入條件並控制轉速及舵角，與前人的差異在於參數上選用不同及控制參數數量不同，前人為多輸入單輸出(MISO)，吾人為多輸入多輸出(MIMO)進行研究。模糊控制在歸屬函數、規則庫設計相當重要，利用模擬的方式調整控制器參數再進行航線測試驗證控制器性能。通過實際測試直線航行最大偏移量在1~2公尺左右，平均偏移量在1公尺左右，並能成功完成航行追蹤，與前人的研究偏移量改善了許多。實驗中在轉彎處會有較大的偏差值，所以吾人透過實驗的方式提供在轉彎時較佳的操船控制。在實務面設計之模糊控制器能與業界船舶達到初步的航行任務，在未來將參數進行修正達到與實驗船相同的結果。

This study combines fuzzy theory and integrates it into the myRIO embedded controller from National Instruments. By using LabVIEW programming and integrating sensors, the study achieves point-to-point route tracking. The sensor uses GPS module and gyroscope to calculate the navigation angle and distance between the experimental vessel and the target point. Previous research uses the angle error calculated from the set angle and the actual heading angle and the variation of the angle error as the input and output rudder angle for controlling in the parameter, but it often generates an offset of 5-8m due to the waves, currents, etc. Therefore, we use the angle error and the offset as the input condition to control the rotational speed and the rudder angle. The difference between the fuzzy control and previous research was in the selection of parameters and the number of control parameters. Previous research was multiple-input single-output (MISO), while this study was multiple-input multiple-output (MIMO). Fuzzy control was crucial in designing membership function and rule base. The controller parameters were adjusted by simulation and then tested for performance in route tracking. Through actual experiment, the maximum offset of the navigation was about 1~2 meters, and the average offset was about 1 meter, and the navigation tracking can be successfully completed, which was greatly improved compared to previous research. In the experiment, larger deviation value in the turn, so the study provides a better maneuvering control in the turn through the experiment. In practical applications, the designed fuzzy controller can achieve initial navigation tasks with industrial vessel, and in the future, parameter adjustments will be made to achieve the same results as the experimental vessel.

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