@inproceedings{d06a032d7c784a838353abd5f5a786a8,
title = "System construction for distributedly controlling the thrusters of X4-AUV",
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.",
keywords = "AUV, Distributed control, GUI, Thruster",
author = "Xiongshi Xu and Keigo Watanabe and Isaku Nagai",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2017.; 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 ; Conference date: 16-08-2017 Through 18-08-2017",
year = "2017",
doi = "10.1007/978-3-319-65289-4_76",
language = "English",
isbn = "9783319652887",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "825--833",
editor = "Honghai Liu and YongAn Huang and Hao Wu and Zhouping Yin",
booktitle = "Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings",
}