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Fault-tolerant Coordinated Motion Control for a Modular Mobile Robot

模块化移动机器人的容错协调运动控制

基本信息

批准号：
14550236
负责人：
HASHIMOTO Masafumi
金额：
$ 1.86万
依托单位：
DOSHISHA UNIVERSITY (2004)Hiroshima University (2002-2003)
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

项目摘要

This project studied a fault-tolerant control for a modular mobile robot. The project is concluded as follows:1. A 3D dead reckoning system for the robot was designed based on a decentralized data association. The dead reckoning algorithm is formulated based on the information filter, the Covariance Intersection and the unscented transformation. This algorithm brings highly modularity and extendibility in the dead reckoning system.2. A motion control system was designed for the robot moving on undulating area. The motion control system consists of chassis-unit controller and wheel-unit controller; the chassis-unit controller decides the desired motion of the robot, while each of wheel-unit controllers controls its own mobile base and chassis tilting mechanism to produce the desired motion of the robot. The control system makes it possible to keep the chassis in a horizontal position while the robot tracking its prescribed path on undulating area.3. A multi-model based fault detection and diagnosis (FDD) system of internal sensors was designed. Three fault modes (hard fault, noise fault, and scale fault modes) of each sensor are handled. The FDD algorithm is formulated based on the variable structure interacting multiple-model algorithm and the Kalman filter. The FDD algorithm is embedded into the dead-reckoning system of our modular robot. It allows the robust self-localization of the robot subject to sensor faults.4. A fault-tolerant control system for a modular robot was designed. The hard fault of sensors and actuators in two drive/steering units is handled. The fault detection and diagnosis are achieved via the interacting multiple-model estimator and heuristic rule. A fault-tolerant controller is designed based on the Ackerman geometry. The control system achieves the safe motion of the robot subject to sensor/actuator fault.

本计画研究一种模组化移动的机器人容错控制。本课题的主要研究成果如下：1.设计了一种基于分布式数据关联的机器人三维航位推算系统。提出了一种基于信息滤波、协方差求交和无迹变换的航位推算算法。该算法为航位推算系统带来了高度的模块化和可扩展性.针对机器人在起伏地形上的运动，设计了一种运动控制系统.运动控制系统由底盘单元控制器和轮单元控制器组成，底盘单元控制器决定机器人的期望运动，轮单元控制器控制各自的移动的底座和底盘倾翻机构产生机器人的期望运动。该控制系统使机器人在起伏区域跟踪其规定路径时，能够保持底盘处于水平位置。设计了一种基于多模型的内部传感器故障检测与诊断系统。处理每个传感器的三种故障模式（硬故障、噪声故障和标度故障模式）。基于变结构交互多模型算法和卡尔曼滤波器，推导出频域检测算法。FDD算法被嵌入到我们的模块化机器人的航位推算系统。它允许鲁棒的自定位的机器人受到传感器故障。4.设计了一种模块化机器人容错控制系统。处理了两个驱动/转向单元中传感器和执行器的硬故障。通过交互式多模型估计器和启发式规则实现故障检测和诊断。基于阿克曼几何设计了容错控制器。控制系统实现了传感器/执行器故障下机器人的安全运动。