我國面對自主船舶領域的專業人才培養上存在短缺問題，因此本研究研製一艘具備避碰設計與遠端操控的自主水面載具，著重於關鍵技術和原理可做為教育和學習的工具。自主水面載具的設計可分成電控及機構兩部分，電控部分採用Arduino Mage 2560做為系統之訊號控制器，協調和處理紅外線與通訊收發器的數據，可實現對周圍環境的障礙偵測和遠程操控功能，訊號控制器可發送訊號於伺服馬達控制其航向，同時透過本研究設計並製作的驅動器，用於驅動DC馬達實現正反轉的功能；機構部分使用現有船模作為基礎進行改造，以便安裝並整合電控系統各項設備以符合實驗要求。本實驗根據國際海上避碰規則(COLREGS)進行設計，驗證其可行性與效率。整個程序是在小型水槽中進行初步動作測試，包括基本的運動控制及避障能力的檢測，接著轉移到大型水槽進行複雜情況測試，檢驗船模的自主和遠端操控的功能。

my country, there is a shortage of professional talent in the field of autonomous vessels, therefore, this research developed an autonomous surface vessel with collision avoidance design and remote control capabilities that focus on key technologies and principles as an educational and learning tool. The design of the autonomous surface vessel is divided into two parts: electronic control and mechanical structure, the electronic control part uses the Arduino Mega 2560 as the signal controller of the system, conformity and processing data from infrared sensors and communication transceivers, it can realize obstacle detection and remote control functions of the surrounding environment, the signal controller can send signals to servo motors and control the vessel's heading; at the same time, we design and produce driver that is used to achieve forward and reverse functions of the DC motor. The mechanism part is modified using the existing ship model, it is conveniently install and integrate various equipment of the electronic control system by the experimental requirements. According to International Regulations for Preventing Collisions at Sea 1972 (COLREGs), this experiment is designed to verify its feasibility and efficiency. The whole process initially involves preliminary motion tests in a small tank, including basic motion control and obstacle avoidance capabilities, following the experiment in a larger tank, the more complex conditions examine the autonomous and remote control functions of the vessel model.

摘 要 I
Abstract II
誌謝 III
目錄 IV
表 目 錄 VII
圖 目 錄 VIII
一、緒論 1
1.1 前言 1
1.2 研究動機與目的 1
1.3 文獻回顧 2
1.4 論文架構 3
二、整體架構的介紹 4
2.1 無人水面載具的整體架構介紹 4
2.2 設計流程規劃 4
2.2.1 電控系統設計 5
2.2.2 機構系統設計 6
2.2.3 船模避碰實驗 6
2.2.4 遠端操控實驗 7
三、電控系統設計 8
3.1 電控電路設計介紹 8
3.2 紅外線收發器 9
3.2.1 設備介紹以及紅外線感測器實驗 10
3.2.2 曲線擬合 15
3.3 通訊收發器 23
3.4 訊號控制器 24
3.5 驅動器 27
3.4.1 減法電路 27
3.4.2 減法電路實驗 28
3.4.3 運算放大器與半橋電路 30
3.4.4 運算放大器與半橋電路實驗 31
3.4.5 驅動器的製作 32
3.5 致動器 34
3.6 電控系統整合 36
四、機構系統設計 37
4.1 機構系統設計介紹 37
4.2 船體與外部裝置 37
4.2.1 船體模型 38
4.2.2 紅外線收發器的架設 39
4.2.3 伺服馬達與舵的架設 40
4.3 船體內部裝置 41
4.3.1 防水盒架設與內部配置 42
4.3.2 軸與軸承的架設 44
4.3.3 DC馬達架設 45
五、船模避碰實驗 46
5.1 實驗設計與方法 46
5.1.1 分析工具 47
5.2 船模運動試驗 47
5.2.1 直線前進試驗 48
5.2.2 右航避碰試驗 49
5.2.3 左舷與右舷避碰試驗 51
5.2.4 左舷艏避碰試驗 54
5.2.5 倒車左舵與右舵避碰 55
5.3 船模之大型水槽綜合試驗 57
5.3.1 右迴旋與左迴旋避碰試驗 58
5.3.2 左迴旋障礙避碰試驗 59
六、遠端操控實驗 61
6.1 實驗方法 61
6.2 船模控制模式 61
6.2.1 前進與倒車控制 61
6.2.2 左舵與右舵控制 62
6.2.3 倒車左舵與右舵控制 63
七、結論與未來展望 66
參考文獻 67

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