Fault detection using redundant navigation modules
2007 (English)In: Fault Detection, Supervision and Safety of Technical Processes 2006, Elsevier, 2007, Vol. 1, 522-527 p.Chapter in book (Refereed)
Mobile robots and other moving vehicles need to know their position with a certain level of confidence. In this chapter, a method is proposed to handle faults in the navigation system by considering the outputs of existing navigation modules rather than processing sensor data directly. The proposed method needs only a simple model for drift and noise, an extended Kalman filter and a CUSUM test. The approach is demonstrated using two providers, odometry and scan matching. It can handle position information given in different coordinate systems and does not require any modification of existing navigation modules. Promising experimental results are shown.
Place, publisher, year, edition, pages
Elsevier, 2007. Vol. 1, 522-527 p.
Other Engineering and Technologies
IdentifiersURN: urn:nbn:se:kth:diva-154654DOI: 10.1016/B978-008044485-7/50088-9ScopusID: 2-s2.0-84884036453ISBN: 978-008044485-7OAI: oai:DiVA.org:kth-154654DiVA: diva2:758726
QC 201410282014-10-282014-10-272014-10-28Bibliographically approved