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Prävention und Beseitigung von Fehlerursachen im Kontext von unbemannten Fahrzeugen

Aron Schnakenbeck, Christoph Sieber, Luis Miguel Vieira da Silva, Felix Gehlhoff, Alexander Fay

Abstract

Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined control codes. However, their autonomous behavior complicates guaranteeing safety and reliability due to the limited influence of a human operator to accurately supervise and verify each robot's actions. To ensure autonomous mobile robot's safety and reliability, which are aspects of dependability, methods are needed both in the planning and execution of missions for autonomous mobile robots. In this article, a twofold approach is presented that ensures fault removal in the context of mission planning and fault prevention during mission execution for autonomous mobile robots. First, the approach consists of a concept based on formal verification applied during the planning phase of missions. Second, the approach consists of a rule-based concept applied during mission execution. A use case applying the approach is presented, discussing how the two concepts complement each other and what contribution they make to certain aspects of dependability.

Prävention und Beseitigung von Fehlerursachen im Kontext von unbemannten Fahrzeugen

Abstract

Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined control codes. However, their autonomous behavior complicates guaranteeing safety and reliability due to the limited influence of a human operator to accurately supervise and verify each robot's actions. To ensure autonomous mobile robot's safety and reliability, which are aspects of dependability, methods are needed both in the planning and execution of missions for autonomous mobile robots. In this article, a twofold approach is presented that ensures fault removal in the context of mission planning and fault prevention during mission execution for autonomous mobile robots. First, the approach consists of a concept based on formal verification applied during the planning phase of missions. Second, the approach consists of a rule-based concept applied during mission execution. A use case applying the approach is presented, discussing how the two concepts complement each other and what contribution they make to certain aspects of dependability.
Paper Structure (11 sections, 5 figures, 2 tables)

This paper contains 11 sections, 5 figures, 2 tables.

Table of Contents

  1. Einleitung
  2. Grundlagen
  3. Verifizierungsmethoden
  4. Beseitigung von Fehlerursachen vor Missionsausführung
  5. Transformation von Missionsplänen in GRAFCET
  6. Eigenschaften von Missionsplänen
  7. Fehlerprävention während der Missionsausführung
  8. Umsetzung und Implementierung
  9. Verifikation der Missionspläne
  10. Laufzeitverifikation der Missionsausführung
  11. Fazit

Figures (5)

  • Figure 1: Regeln zur Transformation eines Plans (linke Seite) in ein GRAFCET-Modell (rechten Seite).
  • Figure 2: Situation des betrachteten Anwendungsfalls mit a) UGV, b) UAV, c) Paket, d) Fabrikhalle und e) Zielposition.
  • Figure 3: Auszug des Missionsplans im JSON-Format für das Szenario in Abbildung. \ref{['fig:useCaseScenario1']}.
  • Figure 4: GRAFCET-Modell des Plans für den Anwendungsfall.
  • Figure 5: Übergabe des c) Pakets. a) UGV kehrt in die Fabrikhalle zurück und b) UAV nähert sich der Übergabeposition.