Title :
Experimental study of fault-tolerant system design for underwater robots
Author :
Yang, Keith C. ; Yuh, J. ; Choi, S.K.
Author_Institution :
Autonomous Syst. Lab., Hawaii Univ., Honolulu, HI, USA
Abstract :
Describes the design and implementation of a fault tolerant system for the 6 degrees-of-freedom ODIN autonomous underwater vehicle (AUV). Fault tolerant system design can be divided into three areas: fault detection, fault isolation, and fault accommodation. This paper summarizes previous studies in fault tolerant system design and presents a fault tolerant system design for thruster (actuator) and sensor failure in AUVs. The presented system was implemented in the actual vehicle, ODIN, and its effectiveness was evaluated with experimental results
Keywords :
actuators; fault diagnosis; marine systems; mobile robots; reliability; sensors; 6 DOF ODIN autonomous underwater vehicle; fault accommodation; fault detection; fault isolation; fault-tolerant system; sensor failure; thruster; underwater robots; Control systems; Fault detection; Fault tolerant systems; Intelligent actuators; Intelligent sensors; Redundancy; Robots; Sea measurements; Sensor systems; Vehicles;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677229
