Title :
A distributed motion control system for the CRANGER Autonomous Underwater Vehicle
Author :
Han, Yingying ; He, Bo ; Sha, Qixin
Author_Institution :
Sch. of Inf. Sci. & Eng., Ocean Univ. of China, Qingdao, China
Abstract :
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.
Keywords :
distributed control; mobile robots; motion control; underwater vehicles; AUV; C-RANGER autonomous underwater vehicle; centralized control method; complex controller; distributed architecture; distributed motion control system; large computation; Centralized control; Computational modeling; Computer architecture; Control systems; Defense industry; Electrical equipment industry; Military computing; Motion control; Petroleum; Underwater vehicles; AUV; CAN; Distributed; Motion Control; Thruster;
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.2010.5456833
