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.
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Xu, X., Watanabe, K., Nagai, I. (2017). System Construction for Distributedly Controlling the Thrusters of X4-AUV. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_76
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DOI: https://doi.org/10.1007/978-3-319-65289-4_76
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