Search results for: F. Itaba
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This paper describes a method of fault diagnosis of internal and external sensors for mobile robot. As our previous works diagnosed hard and noise faults of internal sensors, in this paper, scale faults, in which sensor gains deviate from the fault-free condition, are handled for three internal sensors (two wheel-resolvers and one gyro). The sensor gains are estimated based on the robot velocity estimated...
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2008 SICE Annual Conference > 1942 - 1946
This paper describes fault isolation of dead reckoning and laser range sensor (LRS) for mobile robot. Our mobile robot is equipped with three LRSs for omnidirectional sensing. The robot estimates its own linear and turning velocities based on the information of each LRS as well as dead reckoning. The iterative-closest-point based scan matching is applied for estimating the robot velocities with LRS...
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This paper describes a method of fault diagnosis of internal sensors and actuators for a powered wheelchair. We handle hard fault and scale fault of three sensors (two wheel- resolvers and one gyro) as well as hard fault of two wheel- motors. The hard fault of the gyro is diagnosed based on mode probability estimated with interacting multi-model estimator. The hard fault of the wheel-resolvers and...
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This paper describes a method of fault diagnosis of internal sensors and actuators for a wheelchair. We handle hard fault and scale fault of three sensors (two wheel-resolvers and one gyro) and hard fault of two actuators (two wheel motors). The hard fault of the gyro is diagnosed based on mode probability estimated with interacting multi-model estimator. The hard fault of the wheel resolver and motor...
