Particle Filters Based Fault Diagnosis for Internal Sensors of Mobile Robots

2009 ◽  
Author(s):  
Zhuohua Duan ◽  
Zixing Cai
Keyword(s):  
Fault Diagnosis ◽  
Mobile Robots ◽  
Particle Filters

Flocking with Fault Tolerant Control and Obstacles Avoidance for Mobile Robots Based on Grid Maps

2014 ◽  
Vol 631-632 ◽  
pp. 669-675
Author(s):  
Yong Xiong ◽  
Ji Liang Lin
Keyword(s):  
Fault Tolerance ◽  
Fault Diagnosis ◽  
Mobile Robots ◽  
Control Strategy ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Actuator Failure ◽  
Diagnosis Method ◽  
Tolerance Control ◽  
The Impact

Taking α-lattice flocking as research object, the influence when faults occur in flock and its fault tolerance control algorithm is studied. The impact on flocking performance is analyzed by means of flocking property indexes when communication error, actuator failure or sensor malfunction occur. A flocking fault diagnosis method and fault tolerance control strategy based on communication and data association are introduced. Considering failure mobile robots as obstacles, a complex shaped obstacles avoidance algorithm is proposed. Simulation shows the effectiveness of the method.

1A1-D17 Sensors Fault Diagnosis of Multiple Mobile Robots

2009 ◽  
Vol 2009 (0) ◽  
pp. _1A1-D17_1-_1A1-D17_3
Author(s):  
Takahiro ISHII ◽  
Masafumi HASHIMOTO ◽  
Kazuhiko TAKAHASHI
Keyword(s):  
Fault Diagnosis ◽  
Mobile Robots ◽  
Multiple Mobile Robots
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