Real-Time Model-Based Fault Detection and Isolation for UGVs

被引：17
|
作者：
Monteriu, A. [1 ]
Asthana, P. [2 ]
Valavanis, K. P. [2 ]
Longhi, S. [1 ]
机构：
[1] Univ Politecn Marche, Dipartimento Ingn Informat Gest & Automaz, I-60131 Ancona, Italy
[2] Univ S Florida, Dept Comp Sci & Engn, Tampa, FL 33620 USA
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2009年 / 56卷 / 04期
关键词：
Fault detection; Fault diagnosis; Real-time systems; SYSTEMS; ABRUPT;
D O I：
10.1007/s10846-009-9321-2
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper presents a model-based sensor fault detection and isolation system applied in real-time to unmanned ground vehicles. Structural analysis is applied on the nonlinear model of the vehicle for building the residual generation module, followed by an ad-hoc residual evaluation module for detecting single and multiple sensor faults. The overall proposed diagnosis scheme has been tested in real-time on a real mobile robot in an outdoors environment and for different tasks. The obtained experimental results are satisfactory in terms of diagnosis performance and real-time implementation.
引用
收藏
页码：425 / 439
页数：15
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