ロボットシステム内電装系のための分散協調型故障診断システム

概要

Robot system has recently been studied in real-world situation such as space exploration, under water inspection and disaster response. In extreme environment, robot system has the probability of fault, therefore considering of fault tolerance is important for success of missions. In prior research, we proposed distributed cooperative fault diagnosis method for internal components of robot system. This method consists of some diagnosis devices called diagnoser, and diagnoser observes state of a electrical component. Some diagnoser executes the diagnosis in independent and parallel, and we assume that they are connected using wireless communication. In this paper, we propose the technique which is gathering the diagnosis results, and we confirmed that the diagnoser can detect the fault of component in three types of fault situations by conducting computer simulations.