Publication detail

Sensor Failure Detection in Autonomous Mobile Robot Application

VECHET, S. KREJSA, J. CHEN, K.

Original Title

Sensor Failure Detection in Autonomous Mobile Robot Application

Type

conference paper

Language

English

Original Abstract

Presented paper deals with Failure detection and identification (FDI) in navigation task of autonomous mobile robot. Mobile robots use ultrasonic range finders to solve a collision avoidance task, which is crucial for successful navigation. In case that the sensory readings are invalid the robot should be able to detect this failure and interrupt its actual movement. The method based on first-order Markov chain parameters estimation was developed and tested in both the simulation and real world environment. Practical experiments were performed on autonomous mobile robot Advee.

Keywords

Failure detection and identification; FDI; sensor failure detection; autonomous mobile robot; navigation

Authors

VECHET, S.; KREJSA, J.; CHEN, K.

RIV year

2014

Released

8. 10. 2014

Publisher

Brno University of technology

ISBN

978-80-214-4817-9

Book

16th International Conference on Mechatronics – Mechatronika 2014

Edition

1

Edition number

1

ISBN

NEUVEDENO

Pages from

375

Pages to

380

Pages count

6

BibTex

@inproceedings{BUT113994,
  author="Stanislav {Věchet} and Jiří {Krejsa} and Kuo-Shen {Chen}",
  title="Sensor Failure Detection in Autonomous Mobile Robot Application",
  booktitle="16th International Conference on Mechatronics – Mechatronika 2014",
  year="2014",
  series="1",
  number="1",
  pages="375--380",
  publisher="Brno University of technology",
  doi="10.1109/MECHATRONIKA.2014.7018287",
  isbn="978-80-214-4817-9"
}