DocumentCode
2938315
Title
Detection of Sensor Faults in Autonomous Helicopters
Author
Heredia, Guillermo ; Ollero, Aníbal ; Mahtani, Rajesh ; Béjar, Manuel ; Remuss, Volker ; Musial, Marek
Author_Institution
Robotics, Computer Vision and Intelligent Control Group Dept. Ingeniería de Sistemas y Automática, University of Seville Camino de los Descubrimientos s/n, 41092, Seville, Spain; guiller@cartuja.us.es http://www.esi.us.es/GVR
fYear
2005
fDate
18-22 April 2005
Firstpage
2229
Lastpage
2234
Abstract
This paper presents a sensor fault detection and diagnosis system for autonomous helicopters. The system has been tested with the MARVIN autonomous helicopter. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The effectiveness of the proposed approach is demonstrated by means of MARVIN experimental results.
Keywords
Autonomous helicopters; UAV; fault detection; fault diagnosis; sensors; Actuators; Control systems; Fault detection; Helicopters; Mobile robots; Neural networks; Open loop systems; Remotely operated vehicles; Sensor systems; Unmanned aerial vehicles; Autonomous helicopters; UAV; fault detection; fault diagnosis; sensors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570444
Filename
1570444
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