移动机器人容错控制的实时控制设计。介绍ARTEMIC动力移动机器人

Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications Pub Date : 2010-07-15 DOI:10.1109/MESA.2010.5552026

Cristian Axenie, R. Șolea

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引用次数: 2

摘要

实时应用程序应及时提供同步数据集，最大限度地减少响应中的延迟和抖动，并在存在干扰和故障的情况下满足其性能规范。移动机器人的容错行为是指机器人能够自主检测和识别故障，并在故障发生后继续运行的能力。本文介绍了一种具有容错能力的差动轮式移动机器人实时分布式控制应用——ARTEMIC。本文着重从系统运行层面进行了详细的设计和性能分析。在正常操作期间执行一些压力测试以验证建议。本文将提供具体的设计、开发和实现细节。

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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Real time control design for mobile robot fault tolerant control. Introducing the ARTEMIC powered mobile robot

Real-time applications should timely deliver synchronized data-sets, minimize latency and jitter in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. The paper focuses on design details and performance analysis at the system operation level. Some stress tests are executed during normal operation to validate the proposal. Specific design, development and implementation details will be provided in this paper.

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来源期刊

Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

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