DocumentCode :
2593343
Title :
A multiple particle filters method for fault diagnosis of mobile robot dead-reckoning system
Author :
Cai, Zixing ; Duan, Zhuohua ; Cai, Jingfeng ; Zou, Xiaobing ; Yu, Jinxia
Author_Institution :
Sch. of Inf. Sci. & Eng., Central South Univ., Hunan, China
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
481
Lastpage :
486
Abstract :
Fault detection and diagnosis (FDD) is increasingly important for wheeled mobile robots (WMRs). One of the most promising approaches is the so-called particle filter (also known as sequential Monte Carlo) method. In this paper, rule based inference and multiple particle filters are integrated to diagnose hard faults of WMR´s dead reckoning system. The rule based inference method is employed to determine the states of the movement of the robot in plane and each state of movement is monitored with a particle filter. This approach presents a general framework to combine domain knowledge with particle filters. The key advantage of the proposed method is that it decreases the size of the state space for each particle filter. As a result, it decreases particle number and increases efficiency and accuracy for each particle filter. Experiment performed on a mobile robot shows the improvement in accuracy and efficiency.
Keywords :
Monte Carlo methods; fault diagnosis; inference mechanisms; knowledge based systems; mobile robots; particle filtering (numerical methods); fault detection; fault diagnosis; mobile robot dead-reckoning system; multiple particle filters; robot movement; rule-based inference; sequential Monte Carlo method; wheeled mobile robots; Fault detection; Fault diagnosis; Gaussian noise; Information science; Mobile robots; Monitoring; Monte Carlo methods; Orbital robotics; Particle filters; State-space methods; Fault Detection; Fault Diagnosis; Mobile Robot; Particle filter; Robotics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545027
Filename :
1545027
Link To Document :
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