摘要
针对自治-遥控水下机器人(ARV)硬件平台特点,基于VxWorks操作系统,采用RS-485通信方式,应用互斥锁机制,开发了半双工通信软件。通讯测试结果说明,当控制程序周期在200 ms左右时,嵌入式版能较好地收发数据,符合ARV操控的实时性要求。
On account of the characteristics of the autonomous remote-operated vechicle（ARV）＇s hardware platform, a half-duplex communication software based upon the VxWorks operation system was developed via adopting RS-485 and applying mutual-lock mechanism. The communication test result indicated that when the period of the control program is around 200ms, the embedded board can be used to send and receive data in a good state, meeting the ARVg requirements of the real-time manipulation.
出处
《船海工程》
2013年第3期136-140,共5页
Ship & Ocean Engineering
基金
上海市科委创新行动计划项目(10550502700)
上海市教委科研创新研究重点项目(10ZZ97)
交通运输部基础研究项目(2011-329-810-440)
关键词
ARV
串口通信
互斥锁
RS-485
半双工
autonomous and remotely-operated vehicle
serial communication
Mutex
R5-485
halt-duplex
