Fault-tolerant algorithm for a mobile robot solving a maze

• Autorzy: Srebro A.
• Języki publikacji: EN

Abstrakty

EN

Maze solving problem has been considered since the ancient times. In robotics community this problem is widely known from the ”All Japan Micromouse Competition”. In this paper the author has extended the maze solving problem of cases when some robot distance sensors have been damaged. A new fault-tolerant algorithm for a mobile robot solving a maze is proposed. A dedi - cated simulator has been designed and written in Java to compare several maze solving algorithms for different combination of sensors failures.

Słowa kluczowe

EN

fault tolerance; flood fill; maze solving; mobile robot; simulator

• Wydawca: Foundation for Young Scientists
• Czasopismo: Challenges of Modern Technology
• Rocznik: 2013
• Tom: Vol. 4, no. 1
• Strony: 21--29
• Opis fizyczny: Bibliogr. 17 poz., rys.

Twórcy

autor

Srebro A.

• Warsaw University of Technology, Warsaw, Poland

Bibliografia

• [1] Adil M. J. Sadik , A Comprehensive and Comparative Study of Maze-Solving Techniques by Implementing Graph Theory, 2010 International Conference on Artificial Intelligence and Computational Intelligence.pp.52-56.
• [2] Borenstein J., Everett H.R., et al. Mobile robot positioning Sensors and techniques. Journal of Robotic Systems, 14.4 (1997): 231-249.
• [3] Carlson J., Murphy R., and Nelson A. Follow-up analysis of mobile robot failures. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), Barcelona, Spain, 18-22 April 2004, vol.5, pp. 4987- 4994.
• [4] Carlson J., Murphy R., How UGVs Physically Fail in the Field, IEEE Transactions on Robotics, 21.3(2005): 423-437.
• [5] Casper J., Murphy R. Human-robot interactions during the robot-assisted urban search and rescue response at the world trade center. IEEE Trans. Syst., Man, Cybern. B, 33.3(2003): 367-385.
• [6] Fisher P. Mazes and Labyrinths. Shire Library, 2008.
• [7] Goupil P. AIRBUS state of the art and practices on FDI and FTC in flight control system. Control Engineering Practice, 19.6(2011): 524-539.
• [8] Harrison P. http://www.micromouseonline.com
• [9] Ji M., et al. Hybrid Fault Adaptive Control of a Wheeled Mobile Robot. IEEE/ASME Transactions on Mechatronics, 8.2 (2003): 226-233.
• [10] Mishra, S., and P. Bande. ”Maze Solving Algorithms for Micro Mouse”. In Proc. of the IEEE International Conference on Signal Image Technology and Internet Based Systems (SITIS ’08). 30 Nov.-3 Dec. 2008, Bali, Indonesia, 2008: 86-93.
• [11] Murphy R. Trial by Fire, IEEE Robotics and Automation Magazine, 11.3(2004): 50-61.
• [12] Nou H., Theilliol D., et al. Fault-tolerant Control Systems: Design and Practical Applications. Springer-Verlag London, 2009.
• [13] Nourbakhsh I. R., The mobot museum robot installations, in Proc. IEEE/RSJ IROS 2002 Workshop Robots in Exhibitions, 2002, pp. 14-19.
• [14] Srebro A. ”A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults”. The Challenges of Modern Technology, 2.4(2011): 11-20.
• [15] Vladimir J. L., A Comparative Study on the Path Length Performance of Maze-Searching and Robot Motion Planning Algorithms. IEEE Transactions on Robotics and Automation 1.1(1991): 57-66.
• [16] Wright C. The Maze and theWarrior: Symbols in Architecture, Theology, and Music. Shire Library. Harvard University Press, 2001.
• [17] Zhang, X., ”A Micromouse Maze Solving Algorithm”. MCU and Embedded System 5(2007): 84-85.