Distributed BIT diagnostic network Microsystems for miniature mobile robot

A perfect detecting method is a key factor for robotic systems, and the Built-in-Test (BIT) is the most important technological approach to improve the testability and diagnostic capability of robotic systems. The Miniature Wheel-Track-Legged Mobile Robot is studied, a distributed diagnostic network is presented based on Microsystems, BP network is applied and integrated with D-S evidence theory organically to deal with uncertain information. The robot can work in harsh environment, and has multimode moving methods, finally, an illustrative example of robot faults diagnosis proves that the BIT detecting system can obtain more status message through good structure, hiberarchy and module designing. Furthermore the system can get the information exactly and locate the faults properly, then isolate them. The self-diagnostic capability of robot can meet the need of the increasing reliability.