Autonomous underwater vehicle communication system based on multi-node structure of CAN bus

In order to meet the needs of real-time communication and field detection in Autonomous Underwater Vehicle(AUV),a node of Controller Area Network(CAN) communication is designed,and a communication network in AUV based on CAN bus technology is completed.On the bases of research on multi-node structure of CAN bus for field network communication,the AUV system is divided into several communication units,each of which has its compatible node controller of CAN bus.The structure of centralized control system is replaced by this kind of multi-node distributing control system,and the real time communication by CAN bus is realized.The experiments illustrate that the amount of communication wire can be reduced by implementing this kind of structure,and the communication performance for the whole system can be promoted remarkably.