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Browse Conference Publications > Robotics and Automation, 2007 ... Help

Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)

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4 Author(s)
Monteriu, A. ; Dept. of Comput. Sci. & Eng., South Florida Univ., Tampa, FL ; Asthan, P. ; Valavanis, K. ; Longhi, S.

This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a global positioning system (GPS) antenna, an inertial measurement unit (IMU), and two incremental optical encoders.

Published in:
Robotics and Automation, 2007 IEEE International Conference on

Date of Conference: 10-14 April 2007

Page(s):
2736 - 2743
ISSN :
1050-4729
E-ISBN :
1-4244-0602-1
Print ISBN:
1-4244-0601-3
INSPEC Accession Number:
9538392
Conference Location :
Roma
Digital Object Identifier :
10.1109/ROBOT.2007.363879
Product Type:
Conference Publications

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