In order to improve the autonomous control capability and operational efficiency of ships,the application of image processing technology in ship intelligent controllers is studied.Use a camera to capture ship images and obtain con-tinuously updated ship sequence images.The Otsu method is used to determine the threshold for extracting ship targets,and the background difference method is used to extract ship image targets.Extract ship position,ship size,ship heading angle,and ship sailing speed from ship image targets as motion state parameters for intelligent ship control.By utilizing the posi-tion vector and velocity vector in the ship motion situation parameters,a dynamic model of the ship is constructed,and an in-tegral sliding mode control surface of the ship is designed.An intelligent controller for the ship is designed to achieve intelli-gent control of ship navigation.The experimental results show that using this method to control the ship,the actual rudder angle of the ship is relatively small compared to the expected rudder angle,effectively improving the ship's autonomous con-trol ability.
关键词
图像处理技术/智能控制器/背景差分法/积分滑模控制
Key words
image processing technology/intelligent controller/background difference method/integral sliding mode control
维普
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