A multiple particle filters method for fault diagnosis of mobile robot dead-reckoning system

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 481-486

  Cai, Zixing ^a   Duan, Zhuohua ^b   Cai, Jingfeng ^c   Zou, Xiaobing ^a   Yu, Jinxia ^d  

^a CENTRAL SOUTH UNIVERSITY   (China)

^b SHAOGUAN UNIVERSITY   (China)

^c University of Akron   (United States)

^d HENAN POLYTECHNIC UNIVERSITY   (China)

Author keywords

Fault detection; Fault diagnosis; Mobile robot; Particle filter; Robotics

Indexed keywords

DISTRIBUTED COMPUTER SYSTEMS; EFFICIENCY; FAILURE ANALYSIS; INTELLIGENT ROBOTS; MOBILE ROBOTS; MONTE CARLO METHODS; NAVIGATION; ROBOTICS;

DEAD RECKONING SYSTEM; FAULT DETECTION AND DIAGNOSIS; MULTIPLE PARTICLE FILTERS; PARTICLE FILTER; PARTICLE NUMBERS; RULE-BASED INFERENCE; SEQUENTIAL MONTE CARLO; WHEELED MOBILE ROBOTS (WMRS);

FAULT DETECTION;

EID: 33847272945     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545027     Document Type: Conference Paper

References (12)

1. C. Zixing, H. Hangen, and C. Hong. "Some issues for mobile robot navigation under unknown environments," Control and Decision, vol. 17, no. 4, pp.385-390, 2002. (in Chinese).
2. S. I. Roumeliotis, G. S. Sukhatme, and G. A. Bekey, "Sensor fault detection and identification in a mobile robot," IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems. pp.1383-1388, 1998.
3. P. Goel, G. Dedeoglu, S. I. Roumeliotis, and G. S. Sukhatme, "Fault detection and identification in a mobile robot using multiple model estimation and neural network," IEEE Int'l Conf. on Robotics & Automation, pp.2302-2309, 2000.
4. M. Hashimoto, H. Kawashima, T. Nakagami, and F. Oba, "Sensor fault detection and identification in dead-reckoning system of mobile robot: interacting multiple model approach," Int'l Conf. on Intelligent Robots and Systems, pp.1321-1326, 2001.
5. V. Verma, G. Gordon, R. Simmons, and S. Thrun, "Real-time fault diagnosis [robot fault diagnosis]," IEEE Robotics & Automation Magazine, vol. 11, no. 2, pp.56-66, June, 2004.
6. V. Verma, J. Langford, and R. Simmons, "Non-Parametric Fault Identification for Space Rovers," International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), 2001.
7. V. Verma, G. Gordon, and R. Simmons, "Efficient Monitoring for Planetary Rovers," International Symposium on Artificial Intelligence and Robotics in Space, 2003.
8. M. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp. A Tutorial on Particle Filters for On-line Nonlinear/Non-Gaussian Bayesian Tracking. IEEE Transactions on Signal Processing, v 50, n 2, pp.174-188, 2002. (Pubitemid 34291500)
9. D. Crisan and A. Doucet. A Survey of Convergence Results on Particle Filtering for Practitioners. IEEE Trans. Signal Processing, vol. 50, no. 3, pp. 736-746, 2002. (Pubitemid 34295113)
10. N. de Freitas, "Rao-Blackwellised particle filtering for fault diagnosis," Proceedings of IEEE Aerospace Conference [C]. 2002.
11. V. Verma, S. Thrun, and R. Simmons, "Variable Resolution Particle Filter," Proceedings of the International Joint Conference on Artificial intelligence, 2003.
12. C. Zixing, Z. Xiaobing, W. Lu, D. Zhuohua, and Y. Jinxia, "A Research on Mobile Robot Navigation Control in Unknown Environment: Objectives, Design and Experiences," Proceedings of Korea-Sino Symposium on Intelligent Systems. Busan, Korea, pp. 57-63, 2004.