Fault diagnostic system of mobile robot software based on artificial immune system

Abstract

A mobile robot software fault diagnosis system based on an artificial immune system, the system is composed of a normal model building module, a software fault detection module, a known software fault diagnosis module, an unknown software fault diagnosis module, a software fault elimination module and a system repair module. The normal model building block utilizes the normal model of the mobile robot software system to build an autologous database. The software fault detection module detects all self and software faults through self database retrieval. A normal model is uniquely determined by the spatiotemporal properties of all normal components in a normal software system. The known software fault diagnosis module identifies known software faults by querying the software fault database. The unknown software fault diagnosis module uses the neural network or example learning mechanism to learn unknown software faults, and memorizes the learning results into the software fault database, and the known software fault diagnosis module identifies such software faults.

Description

technical field [0001] The invention relates to a mobile robot software fault diagnosis system based on an artificial immune system, which is an artificial immune system for detecting, identifying, eliminating and system recovery of software faults on a mobile robot. Background technique [0002] Because the mobile robot fault diagnosis in an unknown environment has a strong unknown, it is very difficult, and there are many uncertain factors and uncertain factors, so this problem has always been a difficult point. At present, there is preliminary research on hardware fault diagnosis of this problem, but due to the complexity of software faults, and the trend of network control of mobile robots is becoming more and more obvious, such as remote control of Mars robots, web control of teaching robots, etc. Network viruses and information security are problems in themselves, and this problem is ignored by traditional robotics research, so the software fault diagnosis of mobile ro...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a mobile machine based on the artificial immune system into the software fault diagnosis system, to solve the problems that the software fault detection rate is not high enough in the traditional fault diagnosis technology, the unknown software fault identification ability is not strong enough, and the existing system repair The automation problem existing in the technology provides a new way for the fault detection, identification, elimination and system repair of the mobile robot software system

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