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Rapid fault‐tolerant control prototyping for mobile robots
Author(s) -
Moczulski Wojciech,
Panfil Wawrzyniec,
Przystałka Piotr
Publication year - 2009
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200910312
Subject(s) - control reconfiguration , mobile robot , fault detection and isolation , robotics , rapid prototyping , fuzzy logic , robot , artificial intelligence , computer science , control engineering , fault tolerance , embedded system , engineering , distributed computing , mechanical engineering , actuator
The main purpose of the paper is to present a fault‐tolerant control system of an autonomous mobile robot. The authors present a framework for rapid prototyping of a behavior‐based control system relying on tools and technologies of the Microsoft R Robotics Developer Studio. Fault detection and isolation is carried out with the help of the model‐based and knowledge‐based diagnostics. The first approach is developed by applying recurrent neural networks for residual generation and fuzzy logic for their evaluation. The second approach depends on scalar feature estimation and fuzzy reasoning. Basing on this information rules represented in the form of a decision table are applied for robot's behavior reconfiguration. (© 2009 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)