Abstract
The approach to simulation of a mobile robot on-board equipment fault tolerance based on the theory of semi-Markov processes is presented. At the first stage of proposed approach a simulation the lifecycles of equipment units is considered and for every unit ordinary semi-Markov model is determined. Formulae for unit lifetime calculation in the general case are obtained. At the second stage, the model of competition between units for the fault is considered. To simplify the simulation, the digital approach to the competition analysis is worked out. Digital model is obtained by means of sampling densities described units lifetimes. It is shown that digital approach to analysis of competition permit, rather simply, calculates a lifetime of fault-tolerant assembles and/or on-board equipment as a whole. So, it is shown that number of sampled in histogram, presented unit lifetime allows to control both accuracy and computational complexity of mobile robot reliability parameters calculation. Example of calculation of fault-tolerant actuator control system reliability is presented.
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Research is supported by the RFBR Project No. №19-08-01215_A.
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Larkin, E., Akimenko, T., Bogomolov, A., Krestovnikov, K. (2021). Mathematical Model for Evaluating Fault Tolerance of On-Board Equipment of Mobile Robot. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings". Smart Innovation, Systems and Technologies, vol 187. Springer, Singapore. https://doi.org/10.1007/978-981-15-5580-0_31
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DOI: https://doi.org/10.1007/978-981-15-5580-0_31
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