Fault Tolerant and Adaptive Path Planning for Mobile Robots Based on Health Signals
Conference: ARCS 2011 - 24th International Conference on Architecture of Computing Systems
02/22/2011 - 02/23/2011 at Como, Italy
Proceedings: ARCS 2011
Pages: 6Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Maas, Raphael; Maehle, Erik (University of Lübeck, Ratzeburger Allee 160, 23538 Lübeck, Germany)
Complex systems like mobile robots can be designed not to fail completely, but to show graceful degradation of their capabilities in case of faults. In order to indicate the overall fitness of mobile robots, health signals can be used. This paper examines the effect of health signals on adaptive path planning. The fact that a damaged robot may not be capable of crossing every terrain is utilized in this context. The resulting system is realized under the design principles of organic computing. This means that specialized units that operate side by side and observe one another are implemented, mimicking an organic system. One unit performs a static path planning, while another unit observes the fitness of the robot and intervenes into the path planning if necessary. The path planner is based on a wave front approach. First results making use of a custom made simulator show the effectiveness of this approach.