A control system based on data exchange using ethernet and CANBUS for deep water AUV

There is a large amount of real-time information exchange between mounted devices and the respective control nodes and among different control nodes in Autonomous Underwater Vehicle (AUV). Either using CANBUS alone or using Ethernet alone for AUV control system, there are major drawbacks. This paper applies both of these two methods in the AUV's data communication and control system. Communication among different control nodes as well as among some equipment and nodes applies Ethernet while communication between the motion control node and the actuators applies CANBUS. This not only ensures the feasibility of the huge amount of data transmission but also ensures the reliability and real-time of some communication. The scalability of the system is very strong, but the complexity of the whole system does not increase. Tests show that this approach is feasible.