Using Adaptive Control Architecture to Enhance Mobile Robot Reliability

This paper details the development of an adaptive control architecture permitting to improve the reliability and robustness of autonomous mobile robot. A continuous monitoring of the significant failures allows dynamically choosing the most relevant reaction ensuring the success of the mission. This adaptive behavior is implemented into the control architecture COTAMA. The key points of the specific mechanisms added to COTAMA are addressed and explained. Experimental results are proposed to illustrate the control architecture adaptive behavior.

Domaines

Automatique / Robotique

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TAROS_DURAND.pdf (810.81 Ko)

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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00547852

Soumis le : vendredi 17 décembre 2010-16:00:54

Dernière modification le : vendredi 24 mars 2023-14:52:53

Archivage à long terme le : vendredi 18 mars 2011-03:28:13

Dates et versions

lirmm-00547852 , version 1 (17-12-2010)

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Autorisation HAL

Identifiants

HAL Id : lirmm-00547852 , version 1

Citer

Bastien Durand, Karen Godary-Dejean, Lionel Lapierre, Robin Passama, Didier Crestani. Using Adaptive Control Architecture to Enhance Mobile Robot Reliability. TAROS 2010 - 11th Annual Conference Towards Autonomous Robotic Systems, 2010, Plymouth, United Kingdom. pp.54-61. ⟨lirmm-00547852⟩

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