Fault Detection and Analysis of Control Software for a Mobile Robot

Author

Lin, Jiliang ; JIANG, JingPing

Author_Institution

Coll. of Electr. Eng., Zhejiang Univ., Hangzhou

Volume

1

fYear

2006

fDate

16-18 Oct. 2006

Firstpage

862

Lastpage

866

Abstract

In certain circumstances mobile robots are unreachable from human being, for example Mars exploration rover. So robots should detect and handle faults of control software themselves. This paper is intended to detect faults of control software by computers. Support vector machine (SVM) based classification is applied to fault diagnostics of control software for a mobile robot. Both training and testing data are sampled by simulating several fault software strategies and recording the operation parameters of the robot. The correct classification percentages for different situations are discussed

Keywords

control engineering computing; fault diagnosis; mobile robots; pattern classification; software fault tolerance; support vector machines; control software; fault analysis; fault detection; fault diagnostics; mobile robot; support vector machine based classification; Aerospace industry; Computer industry; Costs; Electrical fault detection; Fault detection; Fault diagnosis; Hidden Markov models; Mobile robots; Support vector machine classification; Support vector machines;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems Design and Applications, 2006. ISDA '06. Sixth International Conference on

Conference_Location

Jinan

Print_ISBN

0-7695-2528-8

Type

conf

DOI

10.1109/ISDA.2006.147

Filename

4021552