臺灣博碩士論文加值系統

The Return-to-Launch by GPS navigation is one of the most important factors in the systems of an autonomous boat. This system can help the vessel in dangerous situations autonomously. One of the major challenges in designing a vessel capable of the autonomous boat relies on the return to launch system and the high performance in navigating. To ensure this, a simulation of the autonomous boat operating in the real environment was implemented in order to analyze the precision and performance.

The experimental design was created for testing the autonomous boat, which is a catamaran type to follow waypoints by using an on-board sensor of GPS navigation autonomously. This sensor is connected to a Pixhawk controller, which is the main controller on the autonomous boat, to communicate with the software: the Mission Planner program, which is a ground software station via a telemetry radio, allowing the analysis of the performance and accuracies of the vessel with this system.

The main focus of this research is to evaluate a Return-to-Launch system’s overall performance. These experimental results were done in two missions: a square test and a zigzag test. Both missions operated successfully on a simulated following the simulated paths and the Return-to-Launch in the real environment.

ABSTRACT i
ACKNOWLEDGMENTS ii
TABLE OF CONTENTS iii
LIST OF TABLE v
LIST OF FIGURE vi
1. INTRODUCTION 1
1.1 Research background and motivation 1
1.2 Purpose of the study 3
1.3 Scope of study 3
1.4 Practical application 5
2. LITERATURE REVIEW 6
2.1 Autonomous surface vehicle 9
2.1.1 Autonomous boat structural type 9
2.2 Companion hardware 10
2.2.1 On-board controller 10
2.3 Return-to-Launch system 11
2.4 Summary 12
3. METHODOLOGY 13
3.1 Assembly of autonomous boat 15
3.1.1 Characteristic of autonomous boat 15
3.1.2 Control and communication systems of autonomous boat 16
3.1.3 Propulsion system 27
3.2 Installation of autonomous boat system 29
3.2.1 Connecting the control and communication systems 29
3.2.2 Connecting the propulsion system 31
3.3 Experimental of autonomous boat 32
3.3.1 Experimental Location 32
3.3.2 Experimental planning 33
3.3.3 Performance of autonomous boat 36
4. RESULT AND DISCUSSIONS 37
4.1 Experimental results 38
4.2 Mission Planner Data Log analyze 40
4.2.1 The throttle in the data logs 41
4.2.2 Table of the throttle 52
4.3 Accuracy of the RTL system 54
4.4 Summary 57
5. CONCLUSIONS 59
REFERENCE 61
APPENDICES 66

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