A Low Cost Compact Control System for the HIPPO ROV

Abstract:

This paper presents a low cost compact solution for a Remotely Operated Vehicle (ROV) control system. Both hardware architecture and software architecture are discussed. STM32F-1 series MCUs are used for sensor data acquisition [1], output calculation and actuator control. For software, a real-time OS uC/OS-II is embedded in the MCU [2]. The whole control system has been implemented on an observation ROV HIPPO. The result of tank test shows this kind of control system has good performance on maneuverability, stability, reliability and control accuracy. Furthermore, HIPPO has successfully served as a third-party vision provider in the lake trail of another ROV.

• Periodical: Applied Mechanics and Materials (Volumes 190-191)
• Pages: 627-633
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.190-191.627
• Online since: July 2012
• Authors: Biao Wang, Chao Wu, Tong Ge
• Keywords: Control System, ROV, STM32, uC/OS-II

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