Research On Application Of Controller Area Network To Mobile Robots

With the improvement of product scale and efficiency, the Distributed Control System (DCS) hasn't met the need of productive field. Hence, the fifth generation controller system-field bus, come out in the 1980's. The field bus shown powerful vitality from then on, and adapted to the development trends including distribution, network and intelligence technology, so it become the focus of automatic control over the world.On the basis of introduce and analysis of the robot controller in domestic and abroad, the DCS based on Controller Area Network (CAN) is discussed hi this paper. The system is used for mobile robot, CAN has a lot of advantage including higher reliability, better stability, better unti-disturb, higher communication, lower price, lower maintenance costs, and is in suitable for mobile robot.The minimal CAN bus system introduced in the paper, which is a simply LAN component of two nodes, has established in the lab environment .By introducing the CAN controller P80C 592 and SJA1000, the hardware design and software of nodes, and programme of PC are be proved. It supplies reliabitive prove for CAN bus applying to mobile robot.The development tool for hardware used in the trial is C51 compiler, which debugging hardware circuits of nodes. The programme of PC was written by VB6. 0.