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Control system design for micro AUV based on open source hardware
Wang CG(王晨光)1; Hu ZQ(胡志强)2; Yang Y(杨翊)2; Geng LB(耿令波)2; Wang, Ling3
Department海洋机器人卓越创新中心
Conference Name2018 IEEE International Conference on Information and Automation, ICIA 2018
Conference DateAugust 11-13, 2018
Conference PlaceWuyishan, China
Source PublicationProceeding of the 2018 IEEE International Conference on Information and Automation
PublisherIEEE
Publication PlaceNew York
2018
Pages980-984
Indexed ByEI
EI Accession number20193807457992
Contribution Rank2
ISBN978-1-5386-8069-8
KeywordMicro AUV Control System Open Source Hardware BeagleBone Black Arduino
AbstractThis paper mainly introduces the the control system of micro AUV based on open source hardware. The control system is the most important part of the AUV and its performance has a direct impact on the stability and reliability of AUV. Due to the small size and limited energy, micro AUV puts more restrictions on the volume and power consumption of the control system. In this paper, we choose the BeagleBone Black, the open source hardware, as the main controller, the rich peripheral interface of it facilitates data acquisition and centralized processing of the vehicle. Arduino, another type of open source hardware, is used as the node controller of the control system. Compared with the traditional hardware design, this architecture has the advantages of small volume, low power consumption, low cost, short period of development and maintenance, and it also had good performance in data processing and real-time control. The experimental results showed that the control system based on this architecture run effectively.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25635
Collection海洋机器人卓越创新中心
Corresponding AuthorWang CG(王晨光)
Affiliation1.Department of Control Theory and Engineering, Shenyang Ligong University, Shenyang, Liaoning Province, China
2.Department of Ocean Robotics, Shenyang Institute of Automation, Shenyang, Liaoning Province, China
3.Department of Electric Automation, Shenyang Ligong University, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Wang CG,Hu ZQ,Yang Y,et al. Control system design for micro AUV based on open source hardware[C]. New York:IEEE,2018:980-984.
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