Design and experiment of automatic pilot for long-rang AUVs

The design of autonomous underwater vehicles is a complex work. In the past engineers designed AUV with concentrated-frame, this caught a lot of disadvantages, such as computerpsilas hard load, low capability of fault-tolerate, high failure rate and so on. Additionally the missions are more and more complex, AUVs need take more sensors to complete the mission, especially for long-rang AUVs. Traditional design method meets difficulties. This paper outlines a new method to design automatic pilot for long-range AUV. Distributed-frame structure is used to avoid the above shorts. In the hardware design CAN bus is adopted, this makes the communication between controller and executor more quickly. And in software design a real-time operation system called uC/OS is used, it solves the problem of time-delay. In the end the experimentation data shows that the system works well.