Failure recovery method based on log for autonomous robotic system

According to the historical data before failure happened, a new failure recovery method based on log for autonomous robotic system is proposed in the paper. Transaction is the atomic unit of failure recovery. The transactions are registered into the log before the mechanical actions are performed. When the failure is recovered, the corresponding transactions are retrieved from the log, then redo or undo. The recovery is accelerated through using the log file with balance point and the restart file. The control hardware failure is recovered by mirror technology. The EMACRobot system showed that the method based on log would reduce the duration of failure recovery, inherit control work before failure happens, and improve the robustness of autonomous mobile robot.