Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)

Author

Monteriu, Andrea ; Asthan, Prateek ; Valavanis, Kimon ; Longhi, Sauro

Author_Institution

Dept. of Comput. Sci. & Eng., South Florida Univ., Tampa, FL

fYear

2007

fDate

10-14 April 2007

Firstpage

2736

Lastpage

2743

Abstract

This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a global positioning system (GPS) antenna, an inertial measurement unit (IMU), and two incremental optical encoders.

Keywords

Global Positioning System; fault diagnosis; mobile robots; remotely operated vehicles; sensor fusion; fault isolation; global positioning system antenna; incremental optical encoder; inertial measurement unit; model-based sensor fault detection; nonlinear model; residual generation; structural analysis; unmanned ground vehicle; Antenna measurements; Coordinate measuring machines; Fault detection; Global Positioning System; Land vehicles; Measurement units; Optical sensors; Position measurement; Rotation measurement; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.363879

Filename

4209497