Flocking with Fault Tolerant Control and Obstacles Avoidance for Mobile Robots Based on Grid Maps

Abstract

Taking α-lattice flocking as research object, the influence when faults occur in flock and its fault tolerance control algorithm is studied. The impact on flocking performance is analyzed by means of flocking property indexes when communication error, actuator failure or sensor malfunction occur. A flocking fault diagnosis method and fault tolerance control strategy based on communication and data association are introduced. Considering failure mobile robots as obstacles, a complex shaped obstacles avoidance algorithm is proposed. Simulation shows the effectiveness of the method.