This paper presents implementation details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis, applied to the nonlinear model of the UGV, is followed to build the residual generation module, followed by a residual evaluation module capable of detecting single and multiple sensor faults, as detailed in part I [1]. The overall proposed sensor fault detection and isolation system has been tested in real-time on the ATRV-Jr mobile robot when following different trajectories in an outdoors environment. The robot 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: Experimental Validation (part II) / Monteriu', Andrea; P., Asthana; K., Valavanis; Longhi, Sauro. - STAMPA. - (2007), pp. 2744-2751. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation (ICRA) tenutosi a Rome, Italy nel April 10-14, 2007) [10.1109/ROBOT.2007.363880].

Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II)

MONTERIU', Andrea;LONGHI, SAURO
2007-01-01

Abstract

This paper presents implementation details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis, applied to the nonlinear model of the UGV, is followed to build the residual generation module, followed by a residual evaluation module capable of detecting single and multiple sensor faults, as detailed in part I [1]. The overall proposed sensor fault detection and isolation system has been tested in real-time on the ATRV-Jr mobile robot when following different trajectories in an outdoors environment. The robot sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
2007
9781424406012
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/64474
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