Title :
Fault Detection and Analysis of Control Software for a Mobile Robot
Author :
Lin, Jiliang ; JIANG, JingPing
Author_Institution :
Coll. of Electr. Eng., Zhejiang Univ., Hangzhou
Abstract :
In certain circumstances mobile robots are unreachable from human being, for example Mars exploration rover. So robots should detect and handle faults of control software themselves. This paper is intended to detect faults of control software by computers. Support vector machine (SVM) based classification is applied to fault diagnostics of control software for a mobile robot. Both training and testing data are sampled by simulating several fault software strategies and recording the operation parameters of the robot. The correct classification percentages for different situations are discussed
Keywords :
control engineering computing; fault diagnosis; mobile robots; pattern classification; software fault tolerance; support vector machines; control software; fault analysis; fault detection; fault diagnostics; mobile robot; support vector machine based classification; Aerospace industry; Computer industry; Costs; Electrical fault detection; Fault detection; Fault diagnosis; Hidden Markov models; Mobile robots; Support vector machine classification; Support vector machines;
Conference_Titel :
Intelligent Systems Design and Applications, 2006. ISDA '06. Sixth International Conference on
Conference_Location :
Jinan
Print_ISBN :
0-7695-2528-8
DOI :
10.1109/ISDA.2006.147
