Control system design for micro AUV based on open source hardware

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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)3; Yang Y(杨翊)3; Geng LB(耿令波)3; Wang, Ling 2
	2018
会议日期	August 11-13, 2018
会议地点	Wuyishan, China
关键词	Micro AUV Control System Open Source Hardware BeagleBone Black Arduino
页码	980-984
英文摘要	This 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.
产权排序	2
会议录	Proceeding of the 2018 IEEE International Conference on Information and Automation
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-8069-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25635]
专题	海洋机器人卓越创新中心
通讯作者	Wang CG(王晨光)
作者单位	1.Department of Control Theory and Engineering, Shenyang Ligong University, Shenyang, Liaoning Province, China 2.Department of Electric Automation, Shenyang Ligong University, Shenyang, Liaoning Province, China 3.Department of Ocean Robotics, Shenyang Institute of Automation, Shenyang, Liaoning Province, China
推荐引用方式 GB/T 7714	Wang CG,Hu ZQ,Yang Y,et al. Control system design for micro AUV based on open source hardware[C]. 见:. Wuyishan, China. August 11-13, 2018.