摘要
以我国月球探测为研究背景,以轮式移动机器人为研究对象,介绍了在外星球表面等未知环境中进行深空探测的移动机器人的故障模型和传感器误差模型,分析了未知环境中移动机器人故障诊断与容错控制的特点.在此基础上综述了国内外在该领域的研究进展和主要方法,包括基于多模型的方法、基于粒子滤波器的方法、基于传感器信息融合的方法以及层次容错结构等.最后,总结了该领域待解决的几个难点问题,并对该研究领域的发展趋势进行了展望.
Taking moon exploration as the research background, and wheeled mobile robots (WMRs) as the research object, this paper introduces the fault models and the sensor error models of mobile robots for deep space exploration in unknown environments. Some main features of the fault detection and diagnosis (FDD) and the fault tolerant control (FTC) for WMRs in unknown environments are analyzed. Based on these, some main approaches for FDD/FTC of WMRs, including multiple model based approach, particle filter based approach, sensor fusion based approach, layered fault tolerant architecture, and so on, are summarized. At last, the main challenges, difficulties and some future trends of this field are presented.
出处
《机器人》
EI
CSCD
北大核心
2005年第4期373-379,共7页
Robot
基金
国家自然科学基金重点资助项目(60234030)
关键词
移动机器人
故障检测
故障诊断
容错控制
mobile robot
fault detection
fault diagnosis
fault tolerant control
