NDLI: Experimental Validation of a Real-Time Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Monteriu, A. Asthana, P. Valavanis, K. Longhi, S.
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci. & Eng., Univ. of South Florida, Tampa, FL (Monteriu, A.; Asthana, P.; Valavanis, K.)
Abstract	This paper presents experimental validation and implementation issues of a model-based sensor fault detection and isolation (FDI) system applied to unmanned ground vehicles (UGVs). Enhanced structural analysis is followed to build the residual generation module, followed by different residual evaluation modules capable of detecting single and multiple sensor faults. The overall proposed sensor fault detection and isolation system (SFDIS) has been tested in real-time on the ATRV-Jr mobile robot when following different trajectories in an outdoors environment. The robot sensor suite includes a Global Positioning System (GPS) antenna, an inertial measurement unit (IMU), and two incremental optical encoders. To increase residual sensitivity to sensor faults, the IMU readings are filtered using a Kalman filter (KF), resulting in a robust and accurate FDI system that detects and isolates single/multiple sensor faults
Starting Page	1
Ending Page	8
File Size	5782953
Page Count	8
File Format	PDF
ISBN	0978672011
DOI	10.1109/MED.2006.328690
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-28
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	MEDITERRANEAN CONTROL ASSOCIATION
Subject Keyword	Real time systems Optical filters System testing Fault detection Robot sensing systems Sensor systems Land vehicles Optical sensors Mobile robots Global Positioning System
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II)

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