Title :
Fault detection in mobile robots using sensor fusion
Author :
Abid, Anam ; Khan, Muhammad Tahir ; de Silva, C.W
Author_Institution :
Institute of Mechatronics Engineering, University of Engineering and Technology, Peshawar, Pakistan
Abstract :
Fault detection and isolation in mobile robots has become a challenging task primarily due to uncertain and dynamic operating environments. The design of model-based fault detection methods would not be a practical real-time solution in view of the dynamic and uncertain nature of the problem. Also, conventional single-sensor approaches have limitations in practical applications. In this paper, a method of fault detection and isolation (FDI) based on a multi-level data fusion and response (behavioral) analysis technique is presented. The proposed FDI scheme mainly consists of pre-processing, sensor-fusion, a conflict monitoring unit, a confidence level computation unit, a high-level information fusion unit and a fault isolation unit. The developed FDI method is implemented in a simulated robot environment employing IR/camera fusion for navigation and obstacle avoidance. The fusion-based FDI method is tested under faults in camera and IR sensor. With the developed approach, faults are detected in a timely manner and isolated accurately. Also, with the incorporation of sensor fusion, reliable and accurate sensor information is adaptively fused and fault tolerance is achieved under camera/IR sensor faults.
Keywords :
Cameras; Fault detection; Mobile robots; Robot vision systems; Sensor fusion; Fault detection; confidence level; isolation; sensor fusion;
Conference_Titel :
Computer Science & Education (ICCSE), 2015 10th International Conference on
Conference_Location :
Cambridge, United Kingdom
Print_ISBN :
978-1-4799-6598-4
DOI :
10.1109/ICCSE.2015.7250209