基于VxWorks的自治-遥控水下机器人半双工通信设计和实现  

A Half Duplex Communication Design and Implementation of ARV Based on the VxWorks

作　　者：白桦[1] 史进[1] 朱大奇[1] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海201306

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)

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.

关 键 词：ARV 串口通信 互斥锁 RS-485 半双工 

分 类 号：U674.38[交通运输工程—船舶及航道工程]