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

被引：0
|
作者：
A. Monteriù
P. Asthana
K. P. Valavanis
S. Longhi
机构：
[1] Università Politecnica delle Marche,Dipartimento di Ingegneria Informatica, Gestionale e dell’Automazione
[2] University of South Florida,Department of Computer Science and Engineering
来源：
Journal of Intelligent and Robotic Systems | 2009年 / 56卷
关键词：
Fault detection; Fault diagnosis; Real–time systems;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
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