Mobile robot multisensor reconfiguration

Author

Djath, K. ; Dufaut, M. ; Wolf, D.

Author_Institution

Centre de Recherche en Autom. de Nancy, Inst. Nat. Polytech. de Lorraine, Vandoeuvre-les-Nancy, France

fYear

2000

fDate

2000

Firstpage

110

Lastpage

115

Abstract

To increase their autonomy, mobile robots are now supplied with many sensors. The aim of the multi-sensor reconfiguration task is to find the uncorrupted measurements and coordinate the sensors in order to supply reliable information at any time; in other words, the multisensor reconfiguration provides reliable information to the robot even if a certain number of sensors are faulty. To reach this end, reconfiguration gathers three tasks: fault detection and isolation task, sensor control task and data integration task. Before information analysis, an effective model of sensors capabilities is necessary. The approach proposed in this paper is a rule-based algorithm. An application to mobile robot multisensor system is presented

Keywords

fault diagnosis; fault tolerance; intelligent control; mobile robots; redundancy; sensor fusion; fault detection; fault isolation; fault tolerant control; mobile robots; multiple sensor reconfiguration; redundancy; rule-based algorithm; sensor control; Control systems; Fault detection; Magnetic sensors; Mobile robots; Multisensor systems; Redundancy; Robot kinematics; Robot sensing systems; Sensor systems; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-6363-9

Type

conf

DOI

10.1109/IVS.2000.898327

Filename

898327