Title :
Design and implement of the control system for unmanned surface vehicle based on the VxWorks
Author :
Zhao, Jiang ; Yan, Weisheng ; Gao, Jian ; Shi, Shuwei
Author_Institution :
Marine Coll., Northwest Polytech. Univ., Xi´´an, China
Abstract :
To increase reliability and real time of the unmanned surface vehicle (USV), research on system design and implement of USV was completed. Introduces the hardware architecture of the control system and clarifies the function of all parts. The software architecture is designed based on the VxWorks real-time operating system. The USV control system adopts a three layered hierarchical architecture, includes cooperating layer, control layer and operating layer, to ensure the reliability and real time. Experiments were conducted successfully, such as heading control and simple path-following tests, to obtain useful data to be used in USV modeling and advanced control system design.
Keywords :
control system analysis computing; marine vehicles; operating systems (computers); real-time systems; reliability; remotely operated vehicles; USV system design; VxWorks; VxWorks real-time operating system; control layer; control system; control system hardware architecture; cooperating layer; operating layer; path following test; reliability; software architecture; unmanned surface vehicle; Computer architecture; Control system synthesis; Control systems; Hardware; Operating systems; Real time systems; Software architecture; Software design; System testing; Vehicles; VxWorks operating system; architecture; control system; unmanned surface vehicle (USV);
Conference_Titel :
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5192-0
Electronic_ISBN :
1948-3414
DOI :
10.1109/CAR.2010.5456645
