本研究主要目的為開發設計以機器視覺為主體之視覺導航自航控制器，並利 用操船模擬機設備為驗證平台來測試設計之視覺導航自航器之性能及其特性。由 於操船模擬機能方便的建立相關視覺導航所需之航行水域、導疊燈標以及環境條 件之設定。在導疊燈標之設計上能容易修改其設置之高度、間距及顏色等，而於 環境條件上則易於設定不同之風向/風速以及流向/流速等環境外力之干擾因素， 便於實驗之測試。實驗以CCD 攝影機架設於操船模擬機之駕駛台內作為導疊燈標 影像擷取設備，利用機器視覺配合視覺影像處理，以便於定出導疊標之質心位置， 利用兩座疊標與船艏中心之相對夾角配合內模式自航控制器之設計，組合而成為 一視覺導航自航器來控制測試之模擬本船。整體試驗再搭配模擬環境之設定以方 便測試環境條件干擾下之視覺導航成效。本研究之相關試驗於國立台灣海洋大學 之操船模擬機設備中進行一系列模擬測試，經由模擬機之驗證測試此視覺導航自 航器的確能自動經船舶導引進入預定之區域中，測試中並能瞭解能見度因素對於 視覺導航之影響性。

This work is concerned with the development of a visual guidance autopilot system while using shiphandling simulator as the testbed in evaluating its performances in guiding a vessel into port automatically. The shiphandling simulator provides a convenient setting for adjusting the harbour layouts, environmental conditions and visibility criteria. The simulator is an idea and efficient testbed for studying the performances of the proposed visual guidance under different operating conditions. Specifically a CCD camera is installed inside the bridge of the simulator. The captured images of the leading marks appear on the screen are processed to provide necessary deviated angle information for the autopilot system. The geometric centers of the two leading marks are then calculated, and the separation distance between them is used to compute the deviated heading angle needed. The feasibility of the proposed concept was verified by performing a series of approaching maneuvers using the NTOU Shiphandling Simulator.