Model-based sensor fault detection and isolation system for unmanned ground vehicles:: Theoretical aspects (part I)

被引：11
|
作者：
Monteriu, Andrea [1 ,2 ]
Asthan, Prateek [1 ]
Valavanis, Kirnon [1 ]
Longhi, Sauro [2 ]
机构：
[1] Univ S Florida, Dept Comp Sci & Engn, Tampa, FL 33620 USA
[2] Univ Politecn Marche, Dipartimento Ingn Informat Gest & Automaz, I-60131 Ancona, Italy
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363879
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
引用
收藏
页码：2736 / +
页数：2
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