商用AUV开放式结构控制器的开发

2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies Pub Date : 2007-04-17 DOI:10.1109/UT.2007.370777

S. Ji, Y. Jung, B. Lee, J. S. Woo, Y. Joo

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引用次数: 1

摘要

auv对于降低在水中建立灵活的勘探和工作系统的难度至关重要。然而，由于AUV制造商已经开发了自己的控制体系结构和通信协议，因此很难将子模块或控制算法集成到AUV中。因此，我们开发了一种开放式的AUV控制器架构，将现成的子模块集成到一个可重构和容错的AUV中。我们将这种开放式结构应用于巡航式水下航行器。

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Development of an Open Architecture Controller for a Commercial AUV

AUVs are essential to reduce the difficulty in building up flexible exploring and working systems in the water. However it is hard to integrate sub-modules or control algorithms into an AUV because AUV makers have developed control architectures and communication protocols of their own. So we develop an open architecture for AUV controller that integrates ready-made sub-modules to a reconfigurable and fault tolerant AUV. And we apply this open architecture to the cruising AUV.

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2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies

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