Control system of a mini-ASV prototype: design and implementation

被引：0
|
作者：
Liu, Hui [1 ]
Gan, Shuaiqi [1 ]
Zhang, Jialei [1 ]
Xiang, Xianbo [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Peoples R China
来源：
2016 IEEE 6TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS | 2016年
关键词：
mini-ASV; control system; path folowing; communication protocol; AUTONOMOUS UNDERWATER VEHICLE;
D O I：
暂无
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
This paper presents the control system of a mini autonomous surface vehicle (ASV) prototype recently developed by the research group. First, an overview of the mini-ASV prototype is provided, and then specifications of the hardware system are presented, including microcontroller, GPS, IMU, temperature and humidity sensors. Second, the control system for the mini-ASV consisted of the onboard control part and the remote monitoring part is introduced, and communication protocols between the onboard control and remote control parts are given in details. Finally, experiment results of path following show the effectiveness of the designed control system for the mini-ASV prototype.
引用
收藏
页码：110 / 114
页数：5
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