Design of underwater robot controller based on CAN bus

摘要

Control system is an important part of autonomous underwater robot. The quality of control system directly affects the flexibility and stability of data transmission. At present, most of domestic autonomous underwater robot communicates by RS232. In this paper, an underwater robot distributed control system based on Controller Area Network (CAN) bus is presented. Compared with the traditional centralized control system, distributed control system can easily access to function module without hardware redesigning and has better scalability and CAN bus is more stable than RS232. The design of AUV controller includes hardware circuit and software structure design, which is cored with P89C52 single chip Micyoco. The controller realized information real-time data acquisition of the underwater AUV and autonomous navigation.