Title :
Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)
Author :
Monteriu, Andrea ; Asthan, Prateek ; Valavanis, Kimon ; Longhi, Sauro
Author_Institution :
Dept. of Comput. Sci. & Eng., South Florida Univ., Tampa, FL
Abstract :
This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a global positioning system (GPS) antenna, an inertial measurement unit (IMU), and two incremental optical encoders.
Keywords :
Global Positioning System; fault diagnosis; mobile robots; remotely operated vehicles; sensor fusion; fault isolation; global positioning system antenna; incremental optical encoder; inertial measurement unit; model-based sensor fault detection; nonlinear model; residual generation; structural analysis; unmanned ground vehicle; Antenna measurements; Coordinate measuring machines; Fault detection; Global Positioning System; Land vehicles; Measurement units; Optical sensors; Position measurement; Rotation measurement; Sensor systems;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363879
