V. Filaretov, A. Zuev, A. Zhirabok, A. Procenko, B. Subudhi
{"title":"具有导航传感器故障的自主水下机器人容错系统综合方法的研究","authors":"V. Filaretov, A. Zuev, A. Zhirabok, A. Procenko, B. Subudhi","doi":"10.1109/MED.2015.7158772","DOIUrl":null,"url":null,"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.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Development of synthesis method of fault tolerant systems for autonomous underwater robots with navigation sensors failures\",\"authors\":\"V. Filaretov, A. Zuev, A. Zhirabok, A. Procenko, B. Subudhi\",\"doi\":\"10.1109/MED.2015.7158772\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":316642,\"journal\":{\"name\":\"2015 23rd Mediterranean Conference on Control and Automation (MED)\",\"volume\":\"4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-06-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 23rd Mediterranean Conference on Control and Automation (MED)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MED.2015.7158772\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 23rd Mediterranean Conference on Control and Automation (MED)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2015.7158772","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Development of synthesis method of fault tolerant systems for autonomous underwater robots with navigation sensors failures
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.
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