RESEARCH AND DEVELOPMENT OF GENERAL REAL-TIME CONTROL SOFTWARE FOR UNDERWATER ROBOT

With the commercilization of the technology of underwater robot,people begin to pay more attention to the general real time control software for underwater robots.This paper summerizes the general functions of underwater robots,and brings forward a three leyered structure of general real time control software for underwater robots.At last,a set of general real time control software is introduced based on the three layered structure.