Mobile robot fault tolerant control: introducing ARTEMIC

Authors:
Cristian Axenie
Affiliations:
Dunarea de Jos University, Department of Automation and Industrial Informatics, Galati, Romania
Venue:
ISPRA'10 Proceedings of the 9th WSEAS international conference on Signal processing, robotics and automation
Year:
2010

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Abstract

Real-time applications should timely deliver synchronized data-sets, minimize latency 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. Specific design, development and implementation details will be provided in this paper.