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This paper deals with the distributed controller area network (CAN) based control system design for experimental autonomous locomotion robot (ALR) VUTBOT-2. It also features a system of aviation modules (SAM) description for airborne applications. Distributed control system of the ALR is generated by microprocessor units, which are linked by the CAN. As a higher layer protocol (HLP) the CANAerospace protocol was chosen. CANAerospace is an extremely lightweight protocol/data format definition, which was designed for highly reliable communication with microprocessor-based systems in airborne applications via CAN. It is successfully implemented with the SAM.
Date of Conference: 24-27 May 2004