Flocking with Fault Tolerant Control and Obstacles Avoidance for Mobile Robots Based on Grid Maps

Abstract:

Taking α-lattice flocking as research object, the influence when faults occur in flock and its fault tolerance control algorithm is studied. The impact on flocking performance is analyzed by means of flocking property indexes when communication error, actuator failure or sensor malfunction occur. A flocking fault diagnosis method and fault tolerance control strategy based on communication and data association are introduced. Considering failure mobile robots as obstacles, a complex shaped obstacles avoidance algorithm is proposed. Simulation shows the effectiveness of the method.

• Periodical: Applied Mechanics and Materials (Volumes 631-632)
• Pages: 669-675
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.631-632.669
• Online since: September 2014
• Authors: Yong Xiong*, Ji Liang Lin
• Keywords: Fault Diagnosis, Fault-Tolerant Control, Flocking, Obstacle Avoidance

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