ALGORITHM FOR MODELING THE RELIABILITY OF A CONTROL SYSTEM FOR A GROUP OF ROBOTIC PLATFORMS WITH HOT REDUNDANCY

One of the most relevant areas of robotics development is the management of groups of robotic platforms. When designing such systems, increased reliability requirements are imposed, which is dictated by the significant cost of equipment. The purpose of the work is to investigate the reliability of the developed group management system and determine the possibilities for improving reliability. A group of five robotic platforms, two control panels, allows you to form various configurations of the components. The presented algorithm is intended for modeling the reliability of the developed group control system with hot (loaded) redundancy, robotic platforms, control panels, and the entire system as a whole. There are disparate methods for assessing the reliability of the devices. However, an approach was not developed for a visual and generalized representation of the reliability parameters of the group management system. This paper presents schemes of hot redundancy models and offers a combination of methods for calculating reliability with integer, redundant, sliding, hot and majority redundancy of robotic platforms. The overall hot reservation of the system as a whole is also considered. Structural, probabilistic, and proposed matrix methods are used for modeling. The paper presents the following results: reliability models of the group control system, numerical calculations of the failure rate in, failure times in the form of matrices, graphs of the probability of failure-free operation. Implementation of the algorithm allows you to calculate the reliability of the group management system, assess the risks and select the mode depending on the required efficiency of the mission.

Authors: A. S. Boldyrev, A. L. Verevkin, L. S. Verevkina

Direction: Informatics, Computer Technologies And Control

Keywords: Group control system, robotic platforms, time to failure, reliability, hot redundancy, algorithm, simulation

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