Self-rescue System Design And Implementation For AUV

Autonomous Underwater vehicle (AUV), which is widely used in ocean survey, resources exploration and military field, is one of topics in robot research today. Researching an underwater robot needs a lot of resources, and each time information or data gotten by the sea experiment or job has great value. Due to the complexity of the working environment, underwater robots often faced all kinds of danger, if these dangerous without effective treatment and control, it may cause irreparable damage, Thus, effective and reliable AUV underwater self-rescue technology, for a complex underwater work environment, has become a important issue in the developing process of robot.The research purpose is to design and implement the AUV self-rescue system based on behavior, to face the fault and dangerous situation produced for underwater AUV. Meanwhile, the system should have high reliability, clear level, easy to expand, and have a modular characteristics etc.The main content of this article makes a detailed discussion and research from the following several aspects. First, introduces the current research status of the autonomous underwater robots and the self-rescue control system at home and abroad, and discuses the importance and necessity of the self-rescue control system. Then "C-Ranger" is presented which is the application platform for the self-rescue control system. And next, the control system structure based on behavior is analyzed, on which the self-rescue control system is designed based .In the same time ,the self-rescue solution is simulated in the MATLAB/SIMULINK to verify the reliability and feasibility At the last,the realization of the AUV self-rescue control system in hardware and software in detail are introduced.