A Novel Trajectory Replanning Method for Autonomous Robots Under Actuator Faults

A novel trajectory replanning method is proposed to solve the path planning problem for autonomous robots under actuator faults which is intended to cooperate with the existing fault-tolerant control of nonlinear systems to ensure autonomous robots' safe and stable operation. This method proposes formulas to estimate and correct remaining time and establishes an optimal time allocation objective function and optimal trajectory coefficient objective function to obtain the replanned trajectory. The simulation results show the method’s effectiveness in the replanned trajectory in the case of actuator faults.