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Modified IT and E Algorithm for Mobile Robot Self-Adaptation to Failure

Ahed Albadin

This paper introduces a modified algorithm of the Intelligent Trial and Error Algorithm (IT and E) to help the mobile robots to adapt to failure in a short time. Previous proposed algorithms do not require self-diagnosis as they perform training before the damage occurs. These algorithms do not take into consideration the quality of the chosen solution to overcome a failure. In order to determine a better solution, we developed the (IT and E) algorithm by adding a coefficient related to the distance between the robot’s position and the optimal trajectory. We present the results of the modified algorithm simulated on a mobile hexapod robot. The comparison proves the efficiency of the proposed enhancement which outperformed the last one by four times.