Distributed Fault Detection and Isolation for Flocking in a Multi-robot System with Imperfect Communication:

International Journal of Advanced Robotic Systems

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