Title :
Mobile robot multisensor reconfiguration
Author :
Djath, K. ; Dufaut, M. ; Wolf, D.
Author_Institution :
Centre de Recherche en Autom. de Nancy, Inst. Nat. Polytech. de Lorraine, Vandoeuvre-les-Nancy, France
Abstract :
To increase their autonomy, mobile robots are now supplied with many sensors. The aim of the multi-sensor reconfiguration task is to find the uncorrupted measurements and coordinate the sensors in order to supply reliable information at any time; in other words, the multisensor reconfiguration provides reliable information to the robot even if a certain number of sensors are faulty. To reach this end, reconfiguration gathers three tasks: fault detection and isolation task, sensor control task and data integration task. Before information analysis, an effective model of sensors capabilities is necessary. The approach proposed in this paper is a rule-based algorithm. An application to mobile robot multisensor system is presented
Keywords :
fault diagnosis; fault tolerance; intelligent control; mobile robots; redundancy; sensor fusion; fault detection; fault isolation; fault tolerant control; mobile robots; multiple sensor reconfiguration; redundancy; rule-based algorithm; sensor control; Control systems; Fault detection; Magnetic sensors; Mobile robots; Multisensor systems; Redundancy; Robot kinematics; Robot sensing systems; Sensor systems; Tactile sensors;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898327
