Sensor failure detection in autonomous mobile robot application

Stanislav Vechet, Jiri Krejsa, Kuo Shen Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Presented paper deals with sensor 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. When the sensory readings are invalid the robot should be able to detect such a failure and interrupt its actual movement. To solve this task, the method based on first-order Markov chain parameters estimation was developed and tested in both the simulation and the real world environment. Practical experiments were performed on autonomous mobile robot Advee.

Original languageEnglish
Title of host publicationProceedings of the 16th International Conference on Mechatronics, Mechatronika 2014
EditorsTomas Brezina, Alexandr Stefek, Dusan Maga
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages375-380
Number of pages6
ISBN (Electronic)9788021448162
DOIs
Publication statusPublished - 2014 Jan 22
Event16th International Conference on Mechatronics, Mechatronika 2014 - Brno, Czech Republic
Duration: 2014 Dec 32014 Dec 5

Publication series

NameProceedings of the 16th International Conference on Mechatronics, Mechatronika 2014

Other

Other16th International Conference on Mechatronics, Mechatronika 2014
CountryCzech Republic
CityBrno
Period14-12-0314-12-05

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Vechet, S., Krejsa, J., & Chen, K. S. (2014). Sensor failure detection in autonomous mobile robot application. In T. Brezina, A. Stefek, & D. Maga (Eds.), Proceedings of the 16th International Conference on Mechatronics, Mechatronika 2014 (pp. 375-380). [7018287] (Proceedings of the 16th International Conference on Mechatronics, Mechatronika 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MECHATRONIKA.2014.7018287