Integrating error recovery in a mobile robot control system

An approach to handling error recovery for mobile robots is proposed. To understand the way in which detection, error analysis, and mission insertion are carried out, the decomposition of missions into statements is introduced, followed by the notion of a token. The goal of tokens is to manipulate statements. Error recovery is based on the development of a failure tree using an error knowledge base. Moreover, the architecture includes detection of hardware malfunctions at different levels. It is shown through examples that the token structure gives a good representation of mission execution and that error recovery enhances the flexibility and reliability of the overall architecture