System construction for distributedly controlling the thrusters of X4-AUV

Xiongshi Xu, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A small-sized X4-AUV is a kind of AUVs that do not use any rudders, and is driven by four thrusters arranged equally around the fuselage. In order to drive the X4-AUV more efficiently and precisely, a distributed control system of thrusters is proposed, in which the command of a main microcontroller is distributed to four sub-microcontrollers, one of which is mounted on each thruster. By utilizing the serial communication between the PC and the sub-microcontroller, the P, I and D gains of thruster can be easily adjusted on a Graphical User Interface (GUI). After the gains are adjusted, the performance of distributed control of the thrusters can be verified in real time through another designed GUI.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
PublisherSpringer Verlag
Pages825-833
Number of pages9
Volume10462 LNAI
ISBN (Print)9783319652887
DOIs
Publication statusPublished - 2017
Event10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 - Wuhan, China
Duration: Aug 16 2017 → Aug 18 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10462 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
CountryChina
CityWuhan
Period8/16/17 → 8/18/17

Keywords

  • AUV
  • Distributed control
  • GUI
  • Thruster

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Xu, X., Watanabe, K., & Nagai, I. (2017). System construction for distributedly controlling the thrusters of X4-AUV. In Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings (Vol. 10462 LNAI, pp. 825-833). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10462 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-65289-4_76