Research and Development of a Control System for Miniature Autonomous Underwater Vehicles
HOU Wei1, WANG Shu-xin1, WEN Bing-quan2, HE Man-li1, LIU Wei-jing1
1. School of Mechanical Engineering, Tianjin University, Tianjin 300072, China; 2. Department of Handling Facilities, Military Traffic Institute, Tianjin 300161, China
侯巍, 王树新, 温秉权, 何漫丽, 刘卫京. 小型自治水下机器人控制系统研究开发[J]. 机器人, 2005, 27(4): 354-357..
HOU Wei, WANG Shu-xin, WEN Bing-quan, HE Man-li, LIU Wei-jing. Research and Development of a Control System for Miniature Autonomous Underwater Vehicles. ROBOT, 2005, 27(4): 354-357..
Abstract：A CAN-bus-based distributed autonomous underwater vehicle (AUV) control architecture with high cost-effectiveness is developed, and a unique method for failure handling is used. According to weak coupling simplified model, the autopilot control system is designed and simulated. Simulations and experiments show that the control architecture has high reliability and communication rate, and is highly robust and stable. It is completely competent for complex and multivariate operating environment of underwater vehicle.
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