Design and implement of the control system for unmanned surface vehicle based on the VxWorks

Author

Zhao, Jiang ; Yan, Weisheng ; Gao, Jian ; Shi, Shuwei

Author_Institution

Marine Coll., Northwest Polytech. Univ., Xi´´an, China

Volume

3

fYear

2010

fDate

6-7 March 2010

Firstpage

13

Lastpage

16

Abstract

To increase reliability and real time of the unmanned surface vehicle (USV), research on system design and implement of USV was completed. Introduces the hardware architecture of the control system and clarifies the function of all parts. The software architecture is designed based on the VxWorks real-time operating system. The USV control system adopts a three layered hierarchical architecture, includes cooperating layer, control layer and operating layer, to ensure the reliability and real time. Experiments were conducted successfully, such as heading control and simple path-following tests, to obtain useful data to be used in USV modeling and advanced control system design.

Keywords

control system analysis computing; marine vehicles; operating systems (computers); real-time systems; reliability; remotely operated vehicles; USV system design; VxWorks; VxWorks real-time operating system; control layer; control system; control system hardware architecture; cooperating layer; operating layer; path following test; reliability; software architecture; unmanned surface vehicle; Computer architecture; Control system synthesis; Control systems; Hardware; Operating systems; Real time systems; Software architecture; Software design; System testing; Vehicles; VxWorks operating system; architecture; control system; unmanned surface vehicle (USV);

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on

Conference_Location

Wuhan

ISSN

1948-3414

Print_ISBN

978-1-4244-5192-0

Electronic_ISBN

1948-3414

Type

conf

DOI

10.1109/CAR.2010.5456645

Filename

5456645