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 real-time data acquisition of the underwater AUV and autonomous navigation.
[1]
A. J. Marco,et al.
Command, Control and Navigation: Experimental Results with the NPS
,
2001
.
[2]
Hao He,et al.
Probing Waveform Synthesis and Receiver Filter Design
,
2010,
IEEE Signal Processing Magazine.
[3]
Vladimír Oplustil,et al.
Distributed CAN based control system for robotic and airborne applications
,
2002,
7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002..
[4]
B. Jalving,et al.
The NDRE-AUV flight control system
,
1994
.