Abstract
Autonomous underwater vehicles (AUVs) have many scientific, military and commercial applications. Typical AUV development requires critical system design and many costly underwater trials during which system specifications can be validated. Modelling and simulation provide a cost-effective method for carrying out preliminary component or system testing and verification. Controller area network (CAN) was originally developed by Bosch for use in automobiles has become an international standard. Although CAN was developed as a vehicle network standard, the majority of CAN applications exist outside of the automotive industry. One of the great advantages of CAN-bus architecture is the modularity. This paper introduces a PC-based CAN-bus experimental platform for AUV system simulation and performance evaluation. The implementation and consideration on the hardware-in-the-loop experimental platform are presented. The genetic algorithm (GA) scheduling approach is introduced in realizing CAN-bus real-time periodic message transmission. The mathematical models of the AUV are introduced in real-time mathematical simulation. The related timing analysis and simulation results are given and they showed the applicability and availability of the experimental platform.
Published Version
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