Abstract
This paper describes a Controller Area Network (CAN) Bus architecture based on Arduino compatible boards, to be used as an alternative communication system for robotic applications. This combines both, the robustness of CAN and the accessibility of Arduino software. The architecture is developed here to improve a Navigational Assistance System, which was initially created for disabled people. The system is composed of Arduino compatible boards, wired with various sensors and actuators, and communicating with an Human Machine Interface (HMI), directly accessible via a mobile phone or a tablet running on the open-source operating system Android. Information is transferred through the CAN bus architecture between multiple nodes (i.e. Arduino compatible boards) and the implementation of a CAN bootloader allows the reconfiguration of the nodes directly through the bus. The aim is to create a generic system able to work in various kinds of situations, adaptable to all kinds of users, including persons with all sorts of disabilities. This work will result in a demonstrator on a Miniji for the WRSC 2013 and an entirely joystick controlled boat for single handed sailing.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alvey, S.: Martin 16 Power-Assist System - Mk IV, Operator Manual (2005), http://www.martin16.com/uploads/auto_mkiv.pdf
Alvey, S.: Martin 16 Power-Assist System - Mk IV, Brochure, http://www.martin16.com/uploads/autobrochure.pdf (cited June 23, 2013)
National Marine Electronics Association: NMEA2000(TM) standard. In: National Marine Electronics Association website (2012), http://www.nmea.org/content/nmea_standards/nmea_2000_ed3_00.asp
Brocheton, N., Bruget, K., Wibaux, A., Reynet, O., Clement, B., Weber, B.: Systeme d’assistance a la navigation handivoile. In: Proceedings of Handicap 2012: 7th Congress on Technical Assistances for Disabled People, Paris, France (2012)
Sauze, C., Finnis, J.: Proceedings of the 5th International Robotic Sailing Conference. Springer (2012)
CanFestival: CanFestival, a CANopen framework, http://www.canfestival.org/ (cited May 13 , 2013)
CiA: CANopen. In : CAN in Automation (2013), http://www.can-cia.org/index.php?id=systemdesign-canopen
CiA: CAN specifications. In : CAN in Automation, http://www.can-cia.org/index.php?id=can (cited May 13, 2013)
Collective: Proceedings of the 1st International Robotic Sailing Conference (2008)
Collective: Proceedings of the 2nd International Robotic Sailing Conference (2009)
Collective: Proceedings of the 3rd International Robotic Sailing Conference. Universidade do Porto (2010)
Eclipse: Eclipse (software) (2013), http://www.eclipse.org/
Nke Marine Electronics, http://www.nke-marine-electronics.com/home.html (cited June 23, 2013)
Furuno: Furuno Navnet (2012), http://www.navnet.com/
Greif, F.: CAN Bootloader. In : Universal CAN library. Roboterclub Aachen e.V. (2010), http://www.kreatives-chaos.com/artikel/can-bootloader
hilarylister.com: Sip & Puff (2012), http://www.hilarylister.com/d5483/hilary_s_boat/sip_amp_puff.aspx
Janez: CANopenNode, http://sourceforge.net/projects/canopennode/ (cited June 23, 2013)
Jaulin, L.: Modelisation et commande d’un bateau a voile. In: Proceedings of 3rd Conference Internationale Francophone d’Automatique. Douz,Tunisie (2004)
Jaulin, L., Clement, B., Gallou, Y., Le Bars, F., Menage, O., Reynet, O., Sliwka, J.: Suivi de route pour un robot voilier. In: Proceedings of 7th Conference Internationnale Francophone d’Automatique, Grenoble, France (2012)
Access Dinghy Sailing Systems Pty Ltd.: Access Dinghies OPERATIONS & SAFETY MANUAL - LIBERTY, http://www.sailingforall.com/imgs/74liberty_operation_&_safety_manual_pdf.pdf (cited June 25, 2013)
Melguen, M., Le Bars, F.: Official WRSC 2013 Website (2013), http://www.ensta-bretagne.eu/wrsc13/
Martin16: M16 sailboat for able and disabled sailors, http://www.martin16.com/ (cited June 23, 2013)
Menage, O., Gaillard, F., Gorgues, T., Terre, T., Rousseaux, P., Prigent, S., Auffret, Y., Dussud, L., Forest, B., Repecaud, M., Jaulin, L., Clement, B., Gallou, Y., Le Bars, F.: VAIMOS: Voilier autonome instrumente pour mesures oceanographiques de surface. In: Symposium on Vulnerability of Coastal Ecosystems to Global Change and Extreme Events, Biarritz, France (2011)
Merten, M., Gross, H.M.: Highly adaptable hardware architecture for scientific and industrial mobile robots. In: RAM, pp. 1130–1135. IEEE (2008)
Park, E., Kobayashi, L., Lee, S.Y.: Extensible hardware architecture for mobile robots. In: ICRA, pp. 3084–3089. IEEE (2005)
Raymarine: Ethernet. In: Raymarine website, http://www.raymarine.eu/view/?id=5537
Raymarine: SeaTalk/SeaTalk1, http://www.raymarine.eu/view/?id=5535&collectionid=26&col=5557 (cited June 23, 2013)
Raymarine: Autopilot Joystick. In: Raymarine website, http://www.raymarine.com/view/?id=2705 (cited June 24, 2013)
Aldebaran Robotics: NAO Software 1.14.3 documentation: low level architecture. In: website of Aldebaran Robotics, http://www.aldebaran-robotics.com/documentation/naoqi/sensors/dcm/low_level_architecture.html (cited June 23, 2013)
Hansa Sailing, http://hansasailing.com/ (cited June 23, 2013)
Schlaefer, A., Blaurock, O.: Proceedings of the 4th International Robotic Sailing Conference. Springer (2011)
Sliwka, J., Nicola, J., Coquelin, R., Megille, F.B.D., Clement, B., Jaulin, L.: Sailing without wind sensor and other hardware and software innovations. In: Proceedings of the 4th International Robotic Sailing Conference. Springer, Luëbeck (2011)
Stelzer, R., Jafarmadar, K.: The robotic sailing boat asv roboat as a maritime research platform. In: Proceedings of 22nd International HISWA Symposium (2012)
Weber, B.: Splashelec autopilot documentation. In: The Splashelec Wiki, http://wiki.splashelec.com/index.php/autopilot (cited May 13, 2013)
Weber, B.: The CAN Interfacer. In: The Splashelec Wiki, http://wiki.splashelec.com/index.php/caninterfacer (cited May 13, 2013)
wetwheels.co.uk: About the boat, http://www.wetwheels.co.uk/about-us/about-the-boat/ (cited June 24, 2013)
Wikipedia: NMEA 2000. In: English Wikipedia, http://en.wikipedia.org/wiki/nmea_2000 (cited June 23, 2013)
Zulliger, R., Tisserant, E.: CANopen SlaveLib, http://canopen.sourceforge.net/projects/slavelib/slavelib.html (cited June 23, 2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Bruget, K., Clement, B., Reynet, O., Weber, B. (2014). An Arduino Compatible CAN Bus Architecture for Sailing Applications. In: Bars, F., Jaulin, L. (eds) Robotic Sailing 2013. Springer, Cham. https://doi.org/10.1007/978-3-319-02276-5_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-02276-5_4
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-02275-8
Online ISBN: 978-3-319-02276-5
eBook Packages: EngineeringEngineering (R0)