A Distributed Motion Control System for the C-RANGER Autonomous Underwater Vehicle

被引：1
作者：
Han, Yingying [1 ]
He, Bo [1 ]
Sha, Qixin [1 ]
机构：
[1] Ocean Univ China, Sch Informat Sci & Engn, Qingdao 266100, Peoples R China
来源：
2010 2ND INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (CAR 2010), VOL 1 | 2010年
关键词：
AUV; Motion Control; Distributed; Thruster; CAN;
D O I：
10.1109/CAR.2010.5456833
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
With applications in the academic, military, and maintenance in oil industrial Autonomous Underwater Vehicles (AUVs) are increasing important. AUV is a kind of complicated equipment, its motion control is extremely crucial. At present, centralized control method used by most AUVs share many deficiencies: complex controller, large computation, difficulties in system maintenance and upgrading, etc. This paper presents a distributed motion control System for our multi-thruster AUV platform C-RANGER. It includes the distributed architecture and algorithm. Simulation proved that the proposed control algorithm and AUV platform work well.
引用
收藏
页码：322 / 325
页数：4
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