Real-Time Model-Based Fault Detection and Isolation for UGVs

Authors:
A. Monteriù;P. Asthana;K. P. Valavanis;S. Longhi
Affiliations:
Dipartimento di Ingegneria Informatica, Gestionale e dell'Automazione, Università Politecnica delle Marche, Ancona, Italy 60131;Department of Computer Science and Engineering, University of South Florida, Tampa, USA 33620;Department of Computer Science and Engineering, University of South Florida, Tampa, USA 33620;Dipartimento di Ingegneria Informatica, Gestionale e dell'Automazione, Università Politecnica delle Marche, Ancona, Italy 60131
Venue:
Journal of Intelligent and Robotic Systems
Year:
2009

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Abstract

The paper presents a model-based sensor fault detection and isolation system applied in real-time to unmanned ground vehicles. Structural analysis is applied on the nonlinear model of the vehicle for building the residual generation module, followed by an ad-hoc residual evaluation module for detecting single and multiple sensor faults. The overall proposed diagnosis scheme has been tested in real-time on a real mobile robot in an outdoors environment and for different tasks. The obtained experimental results are satisfactory in terms of diagnosis performance and real-time implementation.