A Hierarchical Fault Tolerant Control System for UGVs Experiencing Mobility Failures
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2839 Paces Ferry Rd. Suite 1160, Atlanta, GA, 30339
AbstractGlobal Technology Connection, Inc., in collaboration with University of Michigan-Dearborn (Vetronics Institute), Auburn University (GPS and Vehicle Dynamics Laboratory), and industrial partner, Lockheed Martin Missiles and Fire Control Systems, proposes to develop a prototype hierarchical fault tolerant control architecture for UGVs experiencing mobility failures. The architecture includes modules such as world and UGV modeling through an object-oriented framework, health assessment through novel diagnostic and prognostic algorithms, decision support through goal modification, vehicle path planning, and low-level control reconfiguration. At the top level of the architecture, the UGV mobility health state is assessed through diagnostic and prognostic failure detection, identification, and prediction system; an object-based world model is constructed describing terrain, obstacles, etc.; and a goal modification module determines appropriate control actions due to UGV mobility failures. A path planner is then used at the mid-level to generate appropriate UGV mobility trajectories based on the world model and UGV health state. At the low-level, an adaptive controller continually estimates UGV model parameters to provide robust tracking of the generated path. The proposed system will provide the remote UGV user with selectable path planning and operating mode options when mobility failures are present allowing for improved situational awareness, prolonged vehicle life, and greater mission success rates. During Phase II, we will develop a working prototype by first testing the system off-line with data collected from the facilities provided by Auburn University and data provided by our industrial partners for a wheel/hub/motor mobility subsystem. After sufficient performance has been achieved, Beta testing will commence with on-line integration with the experimental facilities. Technology will be transitioned to commercial applications in Phase III to military Future Combat Systems, NASA future space vehicles, automotive manufacturers, UAV, Emergency Medical Systems, automated farming equipment, etc.
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