Title :
Detection of Sensor Faults in Autonomous Helicopters
Author :
Heredia, Guillermo ; Ollero, Aníbal ; Mahtani, Rajesh ; Béjar, Manuel ; Remuss, Volker ; Musial, Marek
Author_Institution :
Robotics, Computer Vision and Intelligent Control Group Dept. Ingeniería de Sistemas y Automática, University of Seville Camino de los Descubrimientos s/n, 41092, Seville, Spain; guiller@cartuja.us.es http://www.esi.us.es/GVR
Abstract :
This paper presents a sensor fault detection and diagnosis system for autonomous helicopters. The system has been tested with the MARVIN autonomous helicopter. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The effectiveness of the proposed approach is demonstrated by means of MARVIN experimental results.
Keywords :
Autonomous helicopters; UAV; fault detection; fault diagnosis; sensors; Actuators; Control systems; Fault detection; Helicopters; Mobile robots; Neural networks; Open loop systems; Remotely operated vehicles; Sensor systems; Unmanned aerial vehicles; Autonomous helicopters; UAV; fault detection; fault diagnosis; sensors;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570444
