Development of synthesis method of fault tolerant systems for autonomous underwater robots with navigation sensors failures

Abstract

The development of a synthesis method of highquality fault tolerant systems for autonomous underwater robots with navigation sensors failures is addressed in this paper. The offered new method bases on using of kinematic models of these robots and a special fusion of data obtained from their onboard navigation sensors. The advantage of method is simplicity of realization and high precision of compensation of detected faults in the conditions of uncertainty and essential variability of parameters of environment and underwater robot. The results of modeling confirm high efficiency of functioning of the synthesized fault tolerant systems.