Software Design And Reliability Analysis Of Autonomous Underwater Vehicle Control System

With the development of world economy and science technology, more attention onthe exploitation of seabed resources has been paid. Autonomous Mobile Robot(Autonomous Underwater Vehicles, referred to as AUV has played a huge role in themilitary, the seabed exploration and marine resource development, consequently it hasbecome one of the most popular topics in the current robot research field. Due to thecomplex undersea environment and low visualization level, the growth of marineresources is largely affected by the AUV intelligence level which put forward higherrequirements for the software system design of the AUV, at the same time, the safeand reliable AUV software system is a protection of intelligent and security. As acore part of the AUV system, AUV monitoring software is the key to realize dataacquisition and control of the navigation.The main purpose of this project is to design a set of easy-to-use and highreliability monitoring software for the practical application of the C-RANGER AUV.Modular ideas are used to design this software and fault tree analysis (FTA) to assessits reliability.The main content of this article can be divided into following sections. The firstsection introduces current research about underwater robots at home and abroad andsoftware reliability. The first section introduces software reliability as well as currentresearch about underwater robots at home and abroad, then the next section introducesthe architecture of the C-RANGER AUV that is involved in this topic. According tothe idea of hierarchical, C-RANGER is divided into four levels and on the basis of themodular thinking it is divided into nine functional modules. The third chapterintroduces some techniques which are used in the AUV monitoring and controlsoftware design, including multi-threading technology, serial communication, socketcommunication, PID control and programming was introduced here. The fourthsection is the focus of this paper. FAT is used to assess the reliability of the AUVmonitoring and control system. First it introduces the concept of fault tree analysisand algorithm implementation, then the fault tree for this system is shown in thischapter, at last,the chapter demonstrates qualitative and quantitative analysis for thefault tree. The last chapter is to summarize the full text, and proposes somedepartments which are needed to improve and enhance so that to provide somereferences for the future work.