Distributed CAN based control system for robotic and airborne applications

Szabó, Szilárd; Oplustil, V.

doi:10.1109/icarcv.2002.1234949

Cited by 8 publications

(3 citation statements)

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“…In practice, a multiprocessor distributed system consists of several independent processor modules. This structure of control system has been successfully implemented and tried out on the project of autonomous locomotive robot VUTBOT2 (Szabó, 2002), (Szabó et al, 2002), (Szabó, 2003). Conception of distributed multiprocessor system allows to easily connect next modules into the system without spurious interference to existing hardware and software parts.…”

Section: Distributed Control System For Alrmentioning

confidence: 99%

Distributed Control Systems Based on Cots Communication Data Bus

Sveda¹,

Szabó²,

Oplustil³

2006

Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics

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This paper deals with the distributed commercial off the shelf (COTS) data bus based on Controller Area Network (CAN) used as a communication data bus for Autonomous Locomotion Robot (ALR) and a System of Avionics Modules (SAM) that is used in civil aircraft Ae270. This article describes main characteristics of CAN communication data bus and its higher layer protocol CANaerospace that are used in communication system of ALR and SAM. The basic idea of distributed control systems are described and their main characteristics are presented. Developed control systems proved that the CAN with HLP CANaerospace is efficient and reliable communication data bus that can be used in safety critical applications like mobile robots, automotive, and avionics systems.

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Section: Distributed Control System For Alrmentioning

confidence: 99%

Distributed Control Systems Based on Cots Communication Data Bus

Sveda¹,

Szabó²,

Oplustil³

2006

Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics

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“…Compared with the traditional centralized control system, distributed control system can easily access to function module without hardware redesigning and has better scalability. By adopting digital signal communication between each node and strong anti jamming ability, distributed control system becomes the first choice of underwater robot control system [3] Fig. 1 shows the distributed underwater robot control system structure which is based on CAN bus.…”

Section: Introductionmentioning

confidence: 99%

Design of underwater robot controller based on CAN bus

Yin

Wang

et al. 2011

Proceedings of 2011 International Conference on Electronic &Amp; Mechanical Engineering and Information Technology

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Control system is an important part of autonomous underwater robot. The quality of control system directly affects the flexibility and stability of data transmission. At present, most of domestic autonomous underwater robot communicates by RS232. In this paper, an underwater robot distributed control system based on Controller Area Network (CAN) bus is presented. Compared with the traditional centralized control system, distributed control system can easily access to function module without hardware redesigning and has better scalability and CAN bus is more stable than RS232. The design of AUV controller includes hardware circuit and software structure design, which is cored with P89C52 single chip Micyoco. The controller realized information real-time data acquisition of the underwater AUV and autonomous navigation.

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“…For instance, the joint commands of the Hemire ROV are sent to the slave controller through RS-485 serial communication in order to control the slave manipulator [14]. The VUTBOT-2 control system is segmented into a communication module, sensor module, locomotion module and control module based on the communication channel of CAN bus [15]. The supervisory controller of the SAUVIM vehicle communicates with a landbased station that monitors and intervenes in the vehiclemanipulator system via Ethernet [16].…”

Section: Introductionmentioning

confidence: 99%

A newly developed hybrid underwater robotic vehicle (HURV): Communication design and tests

Xia

Liu

et al. 2016

OCEANS 2016 - Shanghai

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The paper presents a real-time and reliable communication system for a newly developed hybrid underwater robotic vehicle (HURV). The surface monitoring station of the HURV is linked with the onboard underwater control system by a fine and neutral buoyance fiber, which enables the state monitoring and tele-operation mode of the vehicle based on the industrial Ethernet Modbus/TCP via the fiber-optic communication channel. The detailed implementation procedure of the Modbus/TCP protocol is presented, and the real-time performance of the communication system is analyzed. Finally, the dedicated communication design of the HURV is tested in the tank, and the results of the long-time running test show the satisfactory performance of the communication design of the HURV.

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Distributed CAN based control system for robotic and airborne applications

Cited by 8 publications

References 0 publications

Distributed Control Systems Based on Cots Communication Data Bus

Distributed Control Systems Based on Cots Communication Data Bus

Design of underwater robot controller based on CAN bus

A newly developed hybrid underwater robotic vehicle (HURV): Communication design and tests

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