Distributed Cooperative Fault Diagnosis Method for Internal Electric Component of Robot System

概要

Robot systems have recently been studied for realworld situations such as space exploration, under water inspection, and disaster response. In extreme environ- ments, a robot system has a probability of fault. Therefore, considering fault tolerance is important for success of missions. In prior research, we proposed a distributed cooperative fault diagnosis method for internal components of robot system. This method consists of some diagnosis devices called diagnosers’ which observe the state of a electrical component. Some diagnosers execute the diagnosis independently and in parallel, and we assume that they are connected using wireless communication. In this paper, we propose a technique which involves gathering the diagnosis results. Further we confirmed that this method can detect the faults of components in simplified fault situations by conducting computer simulations.