Sensor fault detection and identification in dead-reckoning system of mobile robot: interacting multiple model approach

• Published in: 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems Vol. 3; pp. 1321 - 1326 vol.3
• Main Authors: Hashimoto, M., Kawashima, H., Nakagami, T., Oba, F.
• Format: Conference Proceeding
• Language: English; Japanese
• Published: IEEE 13.11.2002
• Subjects: Dead reckoning; Decision making; Fault detection; Fault diagnosis; Mobile robots; Potentiometers; Robot sensing systems; Robustness; Sensor systems; State estimation
• ISBN: 0780366123; 9780780366121
• DOI: 10.1109/IROS.2001.977165

An interacting multiple-model (IMM) approach to sensor fault detection and identification (FDI) in the dead reckoning of mobile robots is proposed Changes of sensor normal/failure modes are explicitly modeled as switching from one mode to another in a probabilistic manner; mode probabilities and robot states are estimated via a bank of Kalman filters with mutual interaction. To provide better fault decision, mode probability averaging and heuristic decision-making rule are incorporated into the IMM based algorithm. The proposed FDI algorithm is implemented on our mobile robot. 16 system modes (one normal mode and 15 'hard' sensor-failure modes) of four internal sensors (two wheel-encoders, one steering potentiometer and one yaw-rate gyro) are handled. Experimental results validate that the proposed FDI algorithm allows robust navigation of the robot subject to sensor failures.