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 language | English |
|---|---|
| Title of host publication | Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings |
| Publisher | Springer Verlag |
| Pages | 825-833 |
| Number of pages | 9 |
| Volume | 10462 LNAI |
| ISBN (Print) | 9783319652887 |
| DOIs | |
| Publication status | Published - 2017 |
| Event | 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 - Wuhan, China Duration: Aug 16 2017 → Aug 18 2017 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 10462 LNAI |
| ISSN (Print) | 0302-9743 |
| ISSN (Electronic) | 1611-3349 |
Other
| Other | 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 |
|---|---|
| Country | China |
| City | Wuhan |
| Period | 8/16/17 → 8/18/17 |
Fingerprint
Keywords
- AUV
- Distributed control
- GUI
- Thruster
ASJC Scopus subject areas
- Theoretical Computer Science
- Computer Science(all)
Cite this
System construction for distributedly controlling the thrusters of X4-AUV. / Xu, Xiongshi; Watanabe, Keigo; Nagai, Isaku.
Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. Vol. 10462 LNAI Springer Verlag, 2017. p. 825-833 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10462 LNAI).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - System construction for distributedly controlling the thrusters of X4-AUV
AU - Xu, Xiongshi
AU - Watanabe, Keigo
AU - Nagai, Isaku
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
KW - AUV
KW - Distributed control
KW - GUI
KW - Thruster
UR - http://www.scopus.com/inward/record.url?scp=85028462034&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85028462034&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-65289-4_76
DO - 10.1007/978-3-319-65289-4_76
M3 - Conference contribution
SN - 9783319652887
VL - 10462 LNAI
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 825
EP - 833
BT - Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
PB - Springer Verlag
ER -