Development of the Multiple Power Detection and Faulty Isolation System for Mobile Robots

The paper presents a multiple power detection and faulty isolation system for mobile robots. The system contains four power detection units, a data integration unit, a controller and a supervised computer, and measures four variety power values on real-time. Each power unit uses four current sensors to measure the current variety of the mobile robot, and use multilevel multisensor fusion algorithm to calculate the exact current value, and isolates faulty measured value to improve the current status to be exact using the redundant management algorithm and statistical signal prediction algorithm. We use the proposed algorithms to be applied in voltage detection, too. We design the power detection and faulty isolation system using HOLTEK microchip. The power detection unit can communicate with the data integration unit via I2C interface. The controller of the mobile robot communicates with the data integration unit via RS232 interface. The main controller can decide the residual time under the critical power for each power detection unit of the mobile robot using auto-regression algorithm.