A fault-tolerant architecture for an automatic navigation system is presented. The system employs a mixed type of architecture in which the speed advantages of both pipelined and parallel architectures are exploited to achieve real-time navigation. The fault-tolerant architecture is presented using two reconfiguration strategies. To evaluate the proposed architecture, its reliability, availability, and safety are investigated using Markov models. The feasibility of implementing the proposed architecture is studied. It is found that the architecture be implemented to perform the required real-time navigation of the automatic vision-guided vehicle.
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