Development of synthesis method of fault tolerant systems for autonomous underwater robots with navigation sensors failures

Author

Filaretov, V.F. ; Zuev, A.V. ; Zhirabok, A.N. ; Procenko, A.A. ; Subudhi, B.

Author_Institution

Inst. of Autom. & Control Processes, Far Eastern Fed. Univ., Vladivostok, Russia

fYear

2015

fDate

16-19 June 2015

Firstpage

335

Lastpage

340

Abstract

The development of a synthesis method of highquality fault tolerant systems for autonomous underwater robots with navigation sensors failures is addressed in this paper. The offered new method bases on using of kinematic models of these robots and a special fusion of data obtained from their onboard navigation sensors. The advantage of method is simplicity of realization and high precision of compensation of detected faults in the conditions of uncertainty and essential variability of parameters of environment and underwater robot. The results of modeling confirm high efficiency of functioning of the synthesized fault tolerant systems.

Keywords

autonomous underwater vehicles; fault tolerant control; mobile robots; robot kinematics; sensor fusion; sensors; telerobotics; autonomous underwater robots; data fusion; fault tolerant system synthesis method; navigation sensors failures; onboard navigation sensors; robot kinematic models; Fault tolerant systems; Mathematical model; Navigation; Observers; Sensor systems; autonomous underwater robots; fault tolerant systems; faults; navigation sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2015 23th Mediterranean Conference on

Conference_Location

Torremolinos

Type

conf

DOI

10.1109/MED.2015.7158772

Filename

7158772