A General Purpose Network-Oriented Fault-Diagnose Control Architecture for MMR

Abstract

WSN technology has strong advantages in the facet of environmental perception; node localization and path selection. The WSN technology combining with Multi Mobile Robots (MMR)can gain the ability of its self-planning, self-organization and self-adaption under the complex environment situation. The engineering record shows that the formation control of multi mobile robots is easily broken down. Even if a careful created robot formation at the great cost of manpower and material resources, it is possible breaking down when facing with unknown and complex environment. Recently, the traditional mobile robots formation also facing fault tolerance problem as well, such problems as low coupling, bad robustness and agreement diversification, especially hard to remedy the trouble when occurring the communication breakdown or damage. While WSN networks conducts a research on fault tolerant techniques, robots will show their advantages over localization, distance measuring, fault diagnosis, breakdown maintenance and formation recovery. Robots are installed WSN sensor node can perceive location between nodes by using this algorithm, the paper will proposing an algorithm based on WSN-MMR fault diagnosis through comparing the data perceived by neighbor nodes. It can ensure that the checked node situation and spread the state to other neighboring nodes in the networks. The algorithm can realize the fault diagnosis of the nodes and have a good performance, its feasibility and effectiveness can be tested.