Research On CAN Bus Of Autonomous Underwater Vehicle (AUV)

Autonomous Underwater Vehicle (AUV) is one kind of important underwater equipment. It has profound meaning to develop the technology of the AUV at economic territory and in martial and politics struggle.This paper introduces the development of robot and AUV, analyses the domestic and foreign research trends of AUV and introduces the background and the main content of paper.This paper introduces a distributed control system of AUV based on CAN bus, and deeply discusses the system structure, design idea and implementation method. A distributed control structure and method of embedded system are adopted in this AUV control system, the elements and specification of CAN bus is dissertated. Discussion is made on the software function, the configuration of the control system and the hardware of the detect and control node that takes the micro-controller 87c591 as its core. The design of a CAN based computer detect and control system is introduced. The developing environment that we use is Keil C51. With the help of Visual C++ 6.0, which runs on the platform of Windows, we developed a PC-based and open-featured control program for the AUV system.