부산대학교 도서관

[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.