Design and Preliminary Implementation of Distributed Control System for Pipeline Detection Serpentine Robot Based on CAN Bus

Based on STM32F103 microcontroller, the design of the master-slave distributed control system of snake-like robot for pipeline detection is completed in this paper. Firstly, the application purpose and environment of snake-like robot are analyzed in detail, and then a master-slave distributed control system of snake-like robot based on CAN bus is built. Finally, through testing, the motion control of snake-like robot is preliminarily realized.