Mobile Robot Additive Fault Diagnosis and Accommodation

The main contribution of this work is associated to the fault detection and diagnosis (FDD) of sensors & actuators, and fault accommodation applied to wheeled mobile robots. FDD (i.e fault detection, isolation, and estimation) is done by generating and analyzing residuals with different signatur...

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Bibliographic Details
Main Authors: Mellah, Samia, Graton, Guillaume, Adell, El Mostafa EL, Ouladsine, Mustapha, Planchais, Alain
Format: Conference Proceeding
Language:English
Subjects:
Fault accommodation
Fault diagnosis (FDD)
Unicycle mobile robot
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Description
Summary:The main contribution of this work is associated to the fault detection and diagnosis (FDD) of sensors & actuators, and fault accommodation applied to wheeled mobile robots. FDD (i.e fault detection, isolation, and estimation) is done by generating and analyzing residuals with different signatures. Estimated faults are then compensated to be tolerated. Simulation results show that this method is very promising.
ISSN:2379-0067
DOI:10.1109/ICSC47195.2019.8950504