Sensor fault detection and identification in a mobile robot
- 27 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 1383-1388
- https://doi.org/10.1109/iros.1998.724781
Abstract
Multiple model adaptive estimation (MMAE) is used to detect and identify sensor failures in a mobile robot. Each estimator is a Kalman filter with a specific embedded failure model. The filter bank also contains one filter which has the nominal model embedded within it. The filter residuals are postprocessed to produce a probabilistic interpretation of the operation of the system. The output of the system at any given time is the confidence in the correctness of the various embedded models. As an additional feature the standard assumption that the measurements are available at a constant, common frequency, is relaxed. Measurements are assumed to be asynchronous and of varying frequency. The particularly difficult case of 'soft' sensor failure is also handled successfully. A system architecture is presented for the general problem of failure detection and identification in mobile robots. As an example, the MMAE algorithm is demonstrated on a Pioneer I robot in the case of three different sensor failures.Keywords
This publication has 13 references indexed in Scilit:
- Fault detection and identification in a mobile robot using multiple-model estimationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Sensor/actuator failure detection in the Vista F-16 by multiple model adaptive estimationIEEE Transactions on Aerospace and Electronic Systems, 1995
- Performance enhancement of a multiple model adaptive estimatorIEEE Transactions on Aerospace and Electronic Systems, 1995
- New dynamic model-based fault detection thresholds for robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1994
- Failure Recognition and Fault Tolerance of an Autonomous RobotAdaptive Behavior, 1994
- Do whatever works: A robust approach to fault-tolerant autonomous controlApplied Intelligence, 1992
- Failure detection in dynamic systems with modeling errorsJournal of Guidance, Control, and Dynamics, 1988
- On the identification of variances and adaptive Kalman filteringIEEE Transactions on Automatic Control, 1970
- Optimal adaptive estimation of sampled stochastic processesIEEE Transactions on Automatic Control, 1965
- A New Approach to Linear Filtering and Prediction ProblemsJournal of Basic Engineering, 1960