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Fault detection using redundant navigation modules
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1170-7162
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1927-1690
2007 (English)In: Fault Detection, Supervision and Safety of Technical Processes 2006, Elsevier, 2007, Vol. 6, 522-527 p.Conference paper, Published paper (Refereed)
Abstract [en]

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. 6, 522-527 p.
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; PART 1
National Category
Other Engineering and Technologies
Identifiers
URN: urn:nbn:se:kth:diva-154654DOI: 10.1016/B978-008044485-7/50088-9Scopus ID: 2-s2.0-79961143895ISBN: 9783902661142 (print)ISBN: 9780080444857 (print)OAI: oai:DiVA.org:kth-154654DiVA: diva2:758726
Conference
6th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2006; Beijing; China; 29 August 2006 through 1 September 2006
Note

QC 20141028

Available from: 2014-10-28 Created: 2014-10-27 Last updated: 2017-02-27Bibliographically approved

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Jensfelt, PatricWahlberg, Bo

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  • apa
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Output format
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