The Analysis of Influence of Sensors’ Failure on the Performance of Mobile Robot Autonomy

• Autorzy: Bigaj P. , Bartoszek J. , Trojnacki M.

Identyfikatory

DOI

10.14313/JAMRIS_4-2014/35

• Języki publikacji: EN

Abstrakty

EN

This work is concerned on sensitivity analysis of semiautonomy algorithm of a mobile robot to environmental sensors’ failures. Construction of the robot, semiautonomy algorithm and used sensors have been described. The algorithm bases on a reactive hybrid approach that merges data from different types of sensors and calculates resulting velocities. This algorithm also takes into account environmental sensors’ damage by modifying the behavior of robot in accordance to actual sensors’ set state of health. Simulation research using Matlab/ Simulink package and experimental tests’ results of semiautonomy algorithm were presented. The experimental tests were carried out in outdoor conditions. The research and tests are performed for normal environmental sensors’ operation and for selected sensors’ damage. On that basis, sensitivity of semiautonomy algorithm to selected environmental sensors damage was tested.

Słowa kluczowe

EN

mobile robot; semiautonomy algorithm; sensors failure; matlab/Simulink; simulation research; algorithm sensitivity analysis; hybrid reactive approach

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2014
• Tom: Vol. 8, No. 4
• Strony: 31--39
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Bigaj P.

• Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

autor

Bartoszek J.

• Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

autor

Trojnacki M.

• Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

Bibliografia

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