Communication Scheduling for CAN bus Autonomous Underwater Vehicles

Abstract

The electronic control units (ECUs) are more modular in autonomous underwater vehicles (AUVs). The controller area network (CAN) is selected as the underlying networks in AUVs, because of the modularity, safety, and availability in the fields of distributed real-time systems. CAN is based on the broadcast communication mechanism. Every message has a message identifier, which is unique within the whole network since it defines content and the priority of the message. Bus access conflicts are resolved by bit-wise arbitration of the identifiers, which makes the node with the highest priority message holds the bus access and all the other competitors automatically become receivers of the message. This paper introduces an approach of message transmission scheduling for CAN-bus AUV. The objective is to provide the real-time transmission of periodic messages and guarantee low message latency times for messages including periodic, aperiodic and sporadic messages. Finally, an example of message transmission scheduling is presented for AUV.

MR-X1 — An AUV equipped with a space distributed CPU system and a satellite telecontrol interface

“…For the distributed real-time system, an internal bus is robust and the other bus has high data rate. Some researchers [7], [8] proposed the Controller Area Network (CAN) bus which was originally developed in the 1980's by R.BOSCH GmbH as an internal bus for AUVs. The CAN bus is based on the broadcast communication mechanism.…”

New Can Bus Communication Modules for Digitizing Forest Machines Functionalities in the Context of Forestry 4.0

“…Both of the formats can operate in the same bus, although the Standard frame messages have priority over the Extended frame messages, and the Identifier field takes charge of the bit-wise arbitration [20], where the dominant bits overwrites the recessive bits, therefore, as lower as the ID is, the higher is the priority.…”

Fundamentals of Underwater Vehicle Hardware and Their Applications

“…In the distributed real-time system, it is important which internal bus is the best for the system considered. Some researchers (Weidong 2006, Blandin 1998 proposed the the Controller Area Network (CAN) bus which was originally developed in the 1980's by R.BOSCH GmbH as an internal bus for AUVs. The CAN bus is based on the broadcast communication mechanism.…”