Fault diagnosis for mobile robots with imperfect models based on particle filter and neural network

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 3972 LNCS, Issue , 2006, Pages 1227-1232

  Duan, Zhuohua ^a,b   Cai, Zixing ^a   Yu, Jinxia ^a,c  

^a CENTRAL SOUTH UNIVERSITY   (China)

^b SHAOGUAN UNIVERSITY   (China)

^c HENAN POLYTECHNIC UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

FAULT TOLERANT COMPUTER SYSTEMS; LARGE SCALE SYSTEMS; MATHEMATICAL MODELS; NEURAL NETWORKS; PARAMETER ESTIMATION; PROBABILITY; SENSOR DATA FUSION;

PARTICLE FILTERS; PLANETARY EXPLORATION; SENSOR FUSION; WHEELED MOBILE ROBOTS (WMR);

MOBILE ROBOTS;

EID: 33745931042     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/11760023_178     Document Type: Conference Paper

References (9)

1. Verma, V., Gordon, G., Simmons, R., Thrun, S.: Real-time Fault Diagnosis [Robot Fault Diagnosis]. IEEE Robotics & Automation Magazine 11(2) (2004) 56-66
2. Roumeliotis, S. I., Sukhatme, G. S., Bekey, G. A.: Sensor Fault Detection and Identification in a Mobile Robot. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems. Victoria, BC, Canada (1998) 1383-1388
3. Goel, P., Dedeoglu, G., Roumeliotis, S. L, Sukhatme, G. S.: Fault Detection and Identification in a Mobile Robot Using Multiple Model Estimation and Neural Network. IEEE Int'l Conf. on Robotics & Automation. San Francisco, CA, USA (2000) 2302-2309
4. Hashimoto, M., Kawashima, H., Nakagami, T., Oba, F.: Sensor Fault Detection and Identification in Dead-Reckoning System of Mobile Robot: Interacting Multiple Model Approach. Int'l Conf. on Intelligent Robots and Systems. Maui, HI (2001) 1321-1326
5. Hashimoto, M., Kawashima, H., Oba, F.: A Multi-Model Based Fault Detection and Diagnosis of Internal Sensor for Mobile Robot. IEEE Int'l Conf. on Intelligent Robots and Systems. Las Vegas, NV, United States (2003) 3787-3792
6. Williams, B., Nayak, P.: A Model-based Approach to Reactive Self Configuring Systems. Proceedings of the 13th National Conference on Artificial Intelligence (AAAI-96). Vol. 2. Portland, OR, USA (1996) 971-978
7. Smyth, P.: Markov Monitoring With Unknown States. IEEE Journal on Selected Areas in Communications 12(9) (1994) 1600-1612
8. Hofbaur, M. W., Williams, B. C.: Hybrid Diagnosis with Unknown Behavioral Modes. in: Proceedings of the 13th International Workshop on Principles of Diagnosis (DX02) (2002)
9. Cai, Z. X., Zou, X. B., Wang, L., Duan, Z. H., Yu, J. X.: A Research on Mobile Robot Navigation Control in Unknown Environment: Objectives, Design and Experiences, Proceedings of Korea-Sino Symposium on Intelligent Systems. Busan, Korea (2004) 57-63