自主机器人的分层容错体系结构

2020 50th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W) Pub Date : 2020-06-01 DOI:10.1109/DSN-W50199.2020.00031

Anthony Favier, Antonin Messioux, Jérémie Guiochet, J. Fabre, C. Lesire

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引用次数: 4

摘要

本文提出了一种通用的容错机器人控制器设计方法，并利用ROS和Gazebo进行了实现和验证。其主要思想是使用故障树和有序的恢复模块集来实现容错策略。使用Gazebo和ROS进行仿真，使用移动自主机器人进行机场检查故障注入活动。这个成功的实验实施了安全第一的策略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A hierarchical fault tolerant architecture for an autonomous robot

This paper presents a generic approach to specify a fault tolerant robot controller, and its implementation and validation with ROS and Gazebo. The main idea is to implement a fault tolerance strategy using a fault tree and an ordered set of recovery modules. A fault injection campaign has been carried out with a mobile autonomous robot for airport inspection using simulation with Gazebo and ROS. This successful experiment implements a safety-first strategy.

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2020 50th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W)

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