A Fault-tolerant Architecture for Mobile Robot Localization

被引：0
|
作者：
Zhao, Zuoquan [1 ]
Wang, Jiadong [1 ]
Cao, Jiawei [2 ]
Gao, Wenchao [3 ]
Ren, Qinyuan [1 ]
机构：
[1] Zhejiang Univ, Coll Control Sci & Engn, Hangzhou 310027, Peoples R China
[2] Natl Univ Singapore, Temasek Labs, Singapore 117411, Singapore
[3] ASTAR, Robot Dept, Inst Infocomm Res, Singapore 138632, Singapore
来源：
2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2019年
关键词：
DATA FUSION; FILTERS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To improve the reliability of perception, autonomous mobile robots often obtain environmental information from multiple sensors. However, the redundancy of sensors and extra fusion process increase the risks of system failure. In this paper, a fault-tolerance architecture is proposed for mobile robot localization and a differential drive mobile robot is investigated. In the architecture, the relative/absolute localization methods are fused by Extended Kalman Filters (EKFs). Furthermore, fault detection and fault identification are accomplished by comparing the outputs of redundancy of fusing processes. Finally, the effectiveness of the fault-tolerance architecture is verified in several experiments conducted in the robot prototype.
引用
收藏
页码：584 / 589
页数：6
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