Self-rescue system based on behavior decision-makingand computed torque control for AUV

Autonomous underwater vehicle (AUV) is developed as a powerful tool with capability of autonomous navigation to conduct benthal survey and exploration. It´s a kind of expensive equipment and experimental data obtained in one voyage is also very important. So an on-board self-rescue system is indispensable to ensure AUV escaping from dangers and rising up to the surface safely. In this paper a self-rescue solution is proposed on the basis of behavior-based decision-making, computed torque control and fuzzy logic to implement reliable operation. In behavior-based decision-making, seven behaviors are introduced to realize specific actions of self-rescue and computed torque control is used to control the motion of AUV. Simulation experiments in MATLAB show that the proposed method is effective.