Title :
Fault detection in robot sensors using negative selection algorithm
Author :
Khan, Mohammad Taha ; Hussain, Shiraz ; Bakhtair, S. ; Khan, A. Zeb ; Javed, Shazia ; Iqbal, Jamshed
Author_Institution :
Inst. of Mechatron. Eng., Univ. of Eng. & Technol. Peshawar, Peshawar, Pakistan
Abstract :
This paper describes the methodology for fault detection in autonomous mobile robots. In this, artificial immune system based approach; a set of fault detectors is generated using negative selection algorithm which is responsible for detecting faulty behavior of system. The idea is based on the self-non self-discrimination observed in biological immune system. The feasibility of scheme is implemented on sensors of simulated mobile robot.
Keywords :
artificial immune systems; fault diagnosis; mobile robots; sensors; artificial immune system; autonomous mobile robots; biological immune system; fault detection; faulty behavior detection; negative selection algorithm; robot sensors; self-non self-discrimination; Computers; Detectors; Mobile robots; Radio access networks; Silicon; Tin; Vectors; Artificial Immune System; Negative Selection Algorithm; fault detection;
Conference_Titel :
Computer Science & Education (ICCSE), 2014 9th International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
978-1-4799-2949-8
DOI :
10.1109/ICCSE.2014.6926427
