Title :
CAN bus based for AUV internal communication system design
Author :
Zhang, Fubin ; Duan, Xiaowei ; Bao, Hongjie
Author_Institution :
Coll. of Marine Eng., Northwestern Polytech. Univ., Xi´´an, China
Abstract :
In order to meet the needs of real-time communication and control in Autonomous Underwater Vehicle (AUV), a communication network of AUV based on CAN bus technology is designed. The real-time performance of the messages based on the AUV is analyzed and evaluated, and then the CAN bus system is analyzed through stimulation software CANoe and hardware-in-the-loop simulation. The communication mode has been implemented based on multi-node cooperation in AUV. By using CANscope, the signal quality of nodes and the delay time of CAN message are tested and analyzed. The experiments illustrate that the AUV bus structure can meet the requirements of a distributed communications system and the AUV control network is stable and reliable.
Keywords :
controller area networks; digital simulation; field buses; mobile robots; real-time systems; underwater acoustic communication; underwater vehicles; AUV bus structure; AUV control network; AUV internal communication system design; CAN bus system; CAN bus technology; CAN message; CANscope; autonomous underwater vehicle; communication mode; communication network; delay time; distributed communications system; hardware-in-the-loop simulation; multinode cooperation; real-time communication; real-time control; real-time performance; signal quality; stimulation software CANoe; Communication systems; Control systems; Educational institutions; Electronic mail; Global Positioning System; Real time systems; AUV; CAN bus; analysis; delay time;
Conference_Titel :
Electronics, Communications and Control (ICECC), 2011 International Conference on
Conference_Location :
Ningbo
Print_ISBN :
978-1-4577-0320-1
DOI :
10.1109/ICECC.2011.6066520
