The paper presents a model-based sensor fault detection and isolation system applied in real-time to unmanned ground vehicles. Structural analysis is applied on the nonlinear model of the vehicle for building the residual generation module, followed by an ad-hoc residual evaluation module for detecting single and multiple sensor faults. The overall proposed diagnosis scheme has been tested in real-time on a real mobile robot in an outdoors environment and for different tasks. The obtained experimental results are satisfactory in terms of diagnosis performance and real-time implementation.

Real-Time Model-Based Fault Detection and Isolation for UGVs / Monteriu', Andrea; P., Asthana; K. P., Valavanis; Longhi, Sauro. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 0921-0296. - STAMPA. - 56:4(2009), pp. 425-439. [10.1007/s10846-009-9321-2]

Real-Time Model-Based Fault Detection and Isolation for UGVs

MONTERIU', Andrea;LONGHI, SAURO
2009-01-01

Abstract

The paper presents a model-based sensor fault detection and isolation system applied in real-time to unmanned ground vehicles. Structural analysis is applied on the nonlinear model of the vehicle for building the residual generation module, followed by an ad-hoc residual evaluation module for detecting single and multiple sensor faults. The overall proposed diagnosis scheme has been tested in real-time on a real mobile robot in an outdoors environment and for different tasks. The obtained experimental results are satisfactory in terms of diagnosis performance and real-time implementation.
2009
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/32376
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