This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I) / Monteriu', Andrea; P., Asthana; K., Valavanis; Longhi, Sauro. - STAMPA. - 2007:(2007), pp. 2736-2743. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation (ICRA) tenutosi a Rome, Italy nel April 10-14, 2007) [10.1109/ROBOT.2007.363879].
Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)
MONTERIU', Andrea;LONGHI, SAURO
2007-01-01
Abstract
This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
