Disaster Tolerance of On-Board Control Systems for Ground Robots

Abstract

Modern ground robotic systems can be operated in harsh conditions, as well as in combat conditions, which can provoke numerous equipment failures, both natural and intentional, as a result of which the question of ensuring the disaster tolerance of the control system of the robotic complex is raised. An essential, but not resolved issue of creating control systems of robotic systems is equipping with computer equipment that is developed on the basis of domestic microprocessors and domestic software. This article proposes methods and algorithms that are the basis for the creation of disaster-tolerant control systems for ground robots based on domestic computers and software. The authors have developed algorithms for increasing the reliability of onboard control systems to catastrophic faults and numerical results of increased reliability of these systems using the developed methods were obtained. The use of domestic computers and certified software “Elbrus” allows us to talk about the prospects of solving problems of import substitution in the field of robotics. The authors believe that the following provisions and results are new in this work: the definition of the onboard computer system disaster tolerance is introduced, algorithms are developed to ensure the disaster-tolerance of the onboard computer system using the computers and software series “Elbrus”.