关键词: 智能水下机器人, 微重启技术, 自修复, 部分可观马尔科夫决策过程（POMDP）, 基于点的值迭代（PBVI）

Abstract:  According to the AUV software fault repair problem in partially observable environment, a method based on Partially Observable Markov Decision Process（POMDP） model and micro-reboot mechanism for solving failure repair of AUV is presented. AUV software self-repairing POMDP model is established based on the characteristics of AUV hierarchical structure while can design multi-level micro-reboot repair method. With the help of repair strategy which based on the algorithm of Point Based Value Iteration（PBVI）, the system can implement the repair at lower repair cost in the partially observable environment. Results of experiment prove the validity of algorithm and the applicability of the model.

Key words: Autonomos Underwater Vehicle（AUV）, micro-reboot, self-repair, Paritally Observable Markov Decision Process（POMDP）, Point Based Value Iteration（PBVI）