中文摘要：

面向模块机器人系统,提出了一种全新的故障自诊断策略.该策略将故障自诊断过程分为两个部分：故障检测及故障消息传递.选用健康脉冲法实现模块间的交互式故障检测.设计优化改进型Dijkstra距离计算方法,并依据这种方法引导故障消息在模块间沿最优路径传递.通过仿真试验,该自诊断策略的有效性和可靠性在M-Lattice模块机器人系统上得到了验证,表明该策略可以广泛应用于其他模块机器人系统.

英文摘要：

A novel fault self-diagnosis strategy for modular robotic system is presented. The strategy consists of two parts： fault detection and fault message transmission. A healthy pulse method is used to realize the exogenous detection. And the Dijkstra method is modified to be capable of guiding the passage of fault messages along the optimal path. Computational simulations of one system form, M-Lattice, have demonstrated the validity and reliability of the proposed strategy. And the strategy should be applicable in modular robotic systems in general.