Title :
Fault diagnosis on autonomous robotic vehicles with RECOVERY: an integrated heterogeneous-knowledge approach
Author :
Hamilton, Kelvin ; Lane, Dave ; Taylor, Nick ; Brown, Keith
Author_Institution :
Dept. of Comput. & Electr. Eng., Heriot-Watt Univ., Edinburgh, UK
Abstract :
The need for embedding fault diagnosis into goal-orientated autonomous robotic vehicles for increased mission robustness is described. The RECOVERY system, a method for increasing the diagnostic capability by integrating commonly available heterogeneous knowledge is presented. Initial real-water results using the Ocean Systems Laboratory´s RAUVER vehicle are given.
Keywords :
fault diagnosis; intelligent control; mobile robots; underwater vehicles; Ocean Systems Laboratory; RAUVER vehicle; RECOVERY system; autonomous robotic vehicles; fault diagnosis; heterogeneous knowledge; model based diagnosis; underwater vehicles; Fault diagnosis; Laboratories; Mobile robots; Oceans; Power system modeling; Remotely operated vehicles; Robustness; Space vehicles; Temperature sensors; Underwater vehicles;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933116
