Sensors fault diagnosis in autonomous mobile robots using observer - Based technique

George K. Fourlas, George C. Karras, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This research investigates a sensors fault diagnosis in autonomous mobile robot. Through this study we use the observer - Kalman filter identification technique. According to this observer - based method, the experimental input-output data are being exploited for system identification. The motive is to design observers exclusively for each sensor of the system that allows generating residuals. The research goal is to provide early sensors fault diagnosis. In order to prove the efficacy of the proposed method, we investigated different type of faults and an experimental procedure was carried out using a Pioneer 3AT mobile robot.

Original languageEnglish (US)
Title of host publicationProceedings - 2015 International Conference on Control, Automation and Robotics, ICCAR 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages49-54
Number of pages6
ISBN (Electronic)9781467375238
DOIs
StatePublished - Jul 23 2015
EventInternational Conference on Control, Automation and Robotics, ICCAR 2015 - Singapore, Singapore
Duration: May 20 2015May 22 2015

Publication series

NameProceedings - 2015 International Conference on Control, Automation and Robotics, ICCAR 2015

Conference

ConferenceInternational Conference on Control, Automation and Robotics, ICCAR 2015
Country/TerritorySingapore
CitySingapore
Period5/20/155/22/15

Keywords

  • mobile robots
  • observer-based technique
  • sensors sault diagnosis

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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