AUV emergency self-rescue mechanism and strategy
<b>[Objectives]</b> 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.<b>[Methods]</b> First, this paper introduces the composition of the emergency self-rescue syst...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Editorial Office of Chinese Journal of Ship Research
2018-12-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/EN/Y2018/V13/I6/120 |
| Summary: | <b>[Objectives]</b> 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.<b>[Methods]</b> 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.<b>[Results]</b> The results show the feasibility of the emergency self-rescue mechanism and strategies.<b>[Conclusions]</b> 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. |
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| ISSN: | 1673-3185 1673-3185 |