International Journal of Advanced Robotic Systems | |
Distributed Fault Detection and Isolation for Flocking in a Multi-robot System with Imperfect Communication: | |
ShaoShiliang1  | |
关键词: Multi-Robot; Flocking; Fault Detection; Isolation; | |
DOI : 10.5772/58601 | |
学科分类:自动化工程 | |
来源: InTech | |
【 摘 要 】
In this paper, we focus on distributed fault detection and isolation (FDI) for a multi-robot system where multiple robots execute a flocking task. Firstly, we propose a fault detection method based on the local-information-exchange and sensor-measurement technologies to cover cases of both perfect communication and imperfect communication. The two detection technologies can be adaptively selected according to the packet loss rate (PLR). Secondly, we design a fault isolation method, considering a situation in which faulty robots still influence the behaviours of other robots. Finally, a complete FDI scheme, based on the proposed detection and isolation methods, is simulated in various scenarios. The results demonstrate that our FDI scheme is effective.
【 授权许可】
CC BY
【 预 览 】
Files | Size | Format | View |
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RO201901231161526ZK.pdf | 442KB | download |