Design of Underwater Robot Controller Based On CAN Bus

摘要：

Control system is an important part of autonomous underwater robot The quality of control system directly affects the flexibility and stability of data transmission. At present, most of domestic autonomous underwater robot communicates by RS232. In this paper, an underwater robot distributed control system based on Controller Area Network (CAN) bus is presented. Compared with the traditional centralized control system, distributed control system can easily access to function module without hardware redesigning and has better scalability and CAN bus is more stable than RS232. The design of AUV controller includes hardware circuit and software structure design, which is cored with P89C52 single chip Micyoco. The controller realized information realtime data acquisition of the underwater AUV and autonomous navigation.

关键词： CAN Bus Underwater Robot Controller

作者: He Li Bo Yin Shanshan Wang Qingshu Yang

作者单位: College of Information Science and Engineering, Ocean University of China, Qingdao, China College of Information Science and Engineering, Ocean University of China, Qingdao, China College of

会议类型: 国际会议

会议名称: 2011 International Conference on Electronic & Mechanical Engineering and Information Technology(EMEIT 2011)(2011年机电工程与信息技术国际会议)

会议地点: 哈尔滨

会议语种:英文

页码: 4906-4909

在线出版日期: 2011-08-12（万方平台首次上网日期，不代表论文的发表时间）