System construction for distributedly controlling the thrusters of X4-AUV

Xiongshi Xu; Keigo Watanabe; Isaku Nagai

doi:10.1007/978-3-319-65289-4_76

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 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	https://doi.org/10.1007/978-3-319-65289-4_76
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

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

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

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, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10462 LNAI, Springer Verlag, pp. 825-833, 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017, Wuhan, China, 8/16/17. https://doi.org/10.1007/978-3-319-65289-4_76

Xu X, Watanabe K , Nagai I. System construction for distributedly controlling the thrusters of X4-AUV. In 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)). https://doi.org/10.1007/978-3-319-65289-4_76

Xu, Xiongshi ; Watanabe, Keigo ; Nagai, Isaku. / System construction for distributedly controlling the thrusters of X4-AUV. Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. Vol. 10462 LNAI Springer Verlag, 2017. pp. 825-833 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Access to Document

10.1007/978-3-319-65289-4_76