基于 EKF 的多轮机器人故障检测共识

IF 2.2 3区工程技术 Q2 ENGINEERING, MECHANICAL

Actuators Pub Date : 2024-07-01 DOI:10.3390/act13070253

A. Jouili, B. Boussaid, A. Zouinkhi, M. N. Abdelkrim

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引用次数: 0

摘要

以协商一致的方式同步机器人网络是协同工作的一项重要任务。在达成共识的机器人网络中检测故障则是一项更为重要的任务。考虑到以图论为模型的主从架构中的轮式移动机器人（WMR）编队，本研究的主要目标是检测和隔离编队中出现故障的机器人，以便将其从编队中移除，继续执行分配的任务。在这种情况下，我们利用扩展卡尔曼滤波器（EKF）来估计每个机器人的状态，生成残差，并推断故障是否存在。我们使用 Matlab 仿真器证明了这一技术的实现。

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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Fault Detection of Multi-Wheeled Robot Consensus Based on EKF

Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled by graph theory, the main objective of this study was to detect and isolate a fault that appears on a robot of this formation in order to remove it from the formation and continue the execution of the assigned task. In this context, we exploit the extended Kalman filter (EKF) to estimate the state of each robot, generate a residual, and deduce whether a fault exists. The implementation of this technique was proven using a Matlab simulator.

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来源期刊

Actuators Mathematics-Control and Optimization

CiteScore

3.90

自引率

15.40%

发文量

315

审稿时长

11 weeks

期刊介绍： Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.