TY - GEN
T1 - Application of CAN-bus to the control system of the TESTBED AUV
AU - Zhao, Ningning
AU - Xu, Demin
AU - Gao, Jian
AU - Yan, Weisheng
PY - 2010
Y1 - 2010
N2 - A new distributed control system using CAN-bus for our long-range autonomous underwater vehicle named TESTBED is developed. In the well defined hierarchical architecture, this control system consists of a task layer with the multi-function Tele-operator, a coordination layer with the Mission Management Center, and a control layer with the Navigation and Control Center and other execution-level controllers. All the control nodes communicate with each other through the CAN bus with the proper defined message frames. The real-time control and non-realtime tasks management are assigned to different control nodes, which make the whole system more reliable, maintainable, and easy to upgrade. In the real in-water experiments, the distributed control system fulfilled the multi-waypoints tasks, and the AUV executed the preprogrammed mission completely without any fault.
AB - A new distributed control system using CAN-bus for our long-range autonomous underwater vehicle named TESTBED is developed. In the well defined hierarchical architecture, this control system consists of a task layer with the multi-function Tele-operator, a coordination layer with the Mission Management Center, and a control layer with the Navigation and Control Center and other execution-level controllers. All the control nodes communicate with each other through the CAN bus with the proper defined message frames. The real-time control and non-realtime tasks management are assigned to different control nodes, which make the whole system more reliable, maintainable, and easy to upgrade. In the real in-water experiments, the distributed control system fulfilled the multi-waypoints tasks, and the AUV executed the preprogrammed mission completely without any fault.
KW - Autonomous underwater vehicle
KW - Distributed control system
KW - Hierarchical architecture
UR - http://www.scopus.com/inward/record.url?scp=77958051166&partnerID=8YFLogxK
U2 - 10.1109/ICCET.2010.5485669
DO - 10.1109/ICCET.2010.5485669
M3 - 会议稿件
AN - SCOPUS:77958051166
SN - 9781424463503
T3 - ICCET 2010 - 2010 International Conference on Computer Engineering and Technology, Proceedings
SP - V2645-V2648
BT - ICCET 2010 - 2010 International Conference on Computer Engineering and Technology, Proceedings
T2 - 2010 2nd International Conference on Computer Engineering and Technology, ICCET 2010
Y2 - 16 April 2010 through 18 April 2010
ER -