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Availability Studies and Solutions for Wheeled Mobile Robots

  • Adrian KorodiEmail author
  • Toma L. Dragomir
Chapter
  • 691 Downloads
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 70)

Abstract

The need of an increased availability in the field of robotics is essential. The subjects of this work are the wheeled mobile robots, and their key feature is the movement. The movement has to be realized as safely as possible. The safety implies faultless behavior, which means achieving the specification limits in any situation. A critical part in the wheeled mobile robots movement is the localization module. The first objective of the paper is to provide an availability analysis for wheeled mobile robots regarding the localization module. The first analysis focuses on a distance sensor used to detect static or dynamic obstacles from the environment and the second analysis is related to the entire localization module, the main part of the faults coming from odometry errors. The second objective of the paper is to realize a synthesis of redundant procedures meant to increase the value of the overall availability of the mobile robots.

Keywords

Availability Fault tolerance Markov models Odometry errors Wheeled mobile robot 

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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  1. 1.Faculty of Automation and Computer Science, Department of Automation and Applied Informatics“Politehnica” University of TimisoaraTimisoaraRomania
  2. 2.Faculty of Automation and Computer Science, Department of Automation and Applied Informatics“Politehnica” University of TimisoaraTimisoaraRomania

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