Design And Implementation Of Autonomous Underwater Vehicle Control System Software

Autonomous underwater vehicle (AUV) is currently one of the hottest topics in the field of robotics. It has broad application prospects in the marine survey, resource exploration and military fields.With the improvement of AUV's intelligentization and the increasement of environment's complexity,software system of AUV is highly required. Credible and effective software system is very important to achieve AUV's intelligentization and to ensure AUV's safety. Measurement and control system, as a part of AUV's software system, is the key to fast-sail data measurement and the sail control.Research in this paper is aimed at the structure and practical application of"C-RANGER"AUV, the main target is to design a high reliable, can communicate flexibly, easy operating and modularized measure and control system software. This system adopts modularization design and PID-based distributed control method.This paper consists of the following parts. Firstly, an introduction to AUV and its reliability is given. Then, research of underwater vehicle's structure and C-RANGER's structure is described in details. C-RANGER is made up of four parts, including the task layer, decision-making layer, control layer and the execute layer. Here, we give a particular explanation to the subsystem part, system resources and assignment part, safety and reliability part and the application part. Besides, design of communication construction and upper-layer software system are also introduced. So, the focus of this paper is the communication module, data collection module and the control module, all these three modules make up the measure and control software. Design and implement details of the software are given minutely. In the third chapter, achievement of socket network communication and data collection module are presented, which uses the select model and multithread technology. The forth chapter gives an introduction to AUV's monitoring and PID's close-loop control. In order to improve all parts of this software and enhance its reliability, the fifth chapter analyses the software by using FMEA technology. In the last part, a conclusion is made to put forward future's work.