A study of self-diagnosis system of an autonomous mobile robot: expansion of state sensory systems

Considering that intelligent robotic systems work in a real environment, it is important to equip the function of self-condition recognition in such systems. From this point of view, we discuss the way to diagnose such systems and construct a self-diagnostic system for an autonomous mobile robot. The system must have a self-contained type diagnosing system. In our previous work (2001), we constructed a state sensory system and examined the coping behaviors to self-condition. In this paper, we describe an extension of the state sensory system and diagnosing experiment using an autonomous mobile robot. The prototype of our sensory system consists of internal and external sensors. We show the experimental results using an omnidirectional mobile robot and confirm the effectiveness of our proposed system.