AUV emergency self-rescue mechanism and strategy

CHEN Zhu，XU Guohua，WANG Guanxue，LIU Yan，ZHAI Yunfeng，ZHENG Yu School of Naval Architecture and Ocean Engineering，Huazhong University of Science and Technology， Wuhan 430074，China

Abstract：［Objectives］In order to guarantee the navigation safety of high speed Autonomous Underwater Vehicles（AUV），a new type of practical and reliable emergency system is developed.［Methods］First， this paper introduces the composition of the emergency self-rescue system and analyses and designs the reliability of the system. Secondly，it mainly focuses on the emergency mechanism and strategies，which include the multi-channel data collection mechanism，active emergency switch mechanism and automatic fault priority setting mechanism，as well as the contents of the emergency action methods. Next，an expert emergency decision-making model is designed to output action decisions to handle the faults. Discrete steering rules are introduced to raise the AUV in emergency conditions. Finally，based on the VxWorks real-time operating system，the emergency system control software is coded and hardware in the loop simulation carried out.［Results］The results show the feasibility of the emergency self-rescue mechanism and strategies.［Conclusions］As such，the emergency system and mechanism introduced in this paper can make up for shortages in traditional emergency means，which has important reference value for the self-rescue methods of submarine-shaped AUVs. Key words：Autonomous Underwater Vehicle（AUV）emergency self-rescue；fault priority setting；expert emergency self-rescue strategy；discrete emergency steering rules；hardware in the loop simulation 收稿日期：2017 06 19 网络首发时间：2018-5-18 11:33基金项目：海洋工程国家重点实验室研究基金资助项目（201504）；海军重大条件保障建设项目作者简介：陈柱，男，1993年生，硕士生。研究方向：水下机器人作业技术。E-mail：1208762886@qq.com徐国华（通信作者），男，1965年生，博士，教授，博士生导师。研究方向：水下机器人作业技术，智能控制技术。E-mail：hustxu@vip.sina.com刘炎，男，1970年生，博士，副教授。研究方向：流体力学，机械装备。E-mail：liuyanhust@163.com