Fault Detection and Isolation of Internal and External Sensors Using Scan Matching for Mobile Robot(Mechanical Systems)
Masafumi Hashimoto, Fumihiro Itaba, Kazuhiko Takahashi · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2010
This paper discribes a method of fault detection and isolation of internal and external sensors for mobile robot. Soft faults, which appear as change of sensor gains, are handled for three internal sensors (two wheel-resolvers and one gyro). They are diagnosed based on estimating the robot velocity with a fault-free external sensor (a forward-looking laser range sensor) via scan matching method. Abrupt faults of the external sensor are also handled, and they are detected based on errors related to the scan matching. False or missed detection of sensor faults in dynamical environments are improved based on occupancy grid method. Experimental results in indoor environments show the performance of our method.