Develop an intelligent power detection and diagnosis system for mobile robot

Based on the sensor based detection method , this paper presents an intelligent power detection system for a mobile robot. We use four current sensors to measure the power variety of the mobile robot, and use multilevel multisensor fusion method to detect and diagnosis current sensor status, and isolate faulty sensor to improve the power status to be exact using the redundant management method and prediction algorithm. The redundant management method may be faulty in some condition, and we use prediction algorithm to modify the proposed method in the level two. We design the power detection and diagnosis module using HOLTEK microchip according to the redundant management method. If the method is faulty, the module can transmit measured value and decision output to main controller (IPC) using series interface (RS 232). The main controller can decide an exact output to control power in the mobile robot using statistical signal detection method. Finally, we implement the proposed method on the experiment scenario of power detection procedure for the mobile robot.