A study of self-diagnosis system of an autonomous mobile robot: expansion of state sensory systems

Author

Kawabata, Kuniaki ; Akamatsu, Tomoki ; Asama, Hajime

Author_Institution

Adv. Eng. Center, RIKEN, Saitama, Japan

Volume

2

fYear

2002

fDate

2002

Firstpage

1802

Abstract

Considering that intelligent robotic systems work in a real environment, it is important to equip the function of self-condition recognition in such systems. From this point of view, we discuss the way to diagnose such systems and construct a self-diagnostic system for an autonomous mobile robot. The system must have a self-contained type diagnosing system. In our previous work (2001), we constructed a state sensory system and examined the coping behaviors to self-condition. In this paper, we describe an extension of the state sensory system and diagnosing experiment using an autonomous mobile robot. The prototype of our sensory system consists of internal and external sensors. We show the experimental results using an omnidirectional mobile robot and confirm the effectiveness of our proposed system.

Keywords

fault diagnosis; fault tolerance; mobile robots; self-adjusting systems; autonomous mobile robot; fault detection algorithm; fault diagnosis; omnidirectional mobile robot; self-condition; self-diagnostic system; state sensory system; Control systems; Fatigue; Intelligent robots; Intelligent sensors; Intelligent systems; Mechanical engineering; Mobile robots; Prototypes; Robot sensing systems; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1044017

Filename

1044017