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Warianty tytułu
Języki publikacji
Abstrakty
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.
Rocznik
Tom
Strony
31--39
Opis fizyczny
Bibliogr. 10 poz., rys.
Twórcy
autor
- Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland
autor
- Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland
autor
- Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland
Bibliografia
- [1] Wołoszczuk A., Andrzejczak, M., Szynkarczyk, P., “Architecture of mobile robotics platform planned for intelligent robotic porter system – IRPS project”, Journal of Automation, Mobile Robotics & Intelligent Systems, vol.1, no. 3, 2007, 59–63.
- [2] Bouibed K., Aitouche A., Bayart M., “Sensor fault detection by sliding mode observer applied to an autonomous vehicle”. In: 2009 International Conference on Advances in Computational Tools for Engineering Applications, 621–626. DOI: http://dx.doi.org/10.1109/ACTEA.2009.5227853.
- [3] Rae G. J. S., Dunn S. E., “On-Line detection for AUV”, IEEE Symp. Autonomous Underwater Vehicle Technology, 1994, 383–392.
- [4] Visinsky M. L., Cavallaro J. R., Walker, J. D., “Expert System Framework for Fault Detection and Fault Tolerance in Robotics”, Computers & Electrical Engineering, vol. 20, no. 5, 1994, 421–435.
- [5] Soika M., “A sensor failure detection framework for autonomous mobile robots”. In: Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. (IROS ‘97), vol.3, 1997, 1735–1740. DOI: http://dx.doi.org/10.1109/IROS.1997.656594.
- [6] Healey A. J., “Toward an automatic health monitor for autonomous underwater vehicles using parameter identification”, Amer. Control Conf., 1993, 585–589.
- [7] http://www.antiterrorism.eu/combat_robot. php
- [8] Braitenberg V.,Vehicles: Experiments in synthetic psychology, Cambridge, MA: MIT Press, 1984.
- [9] Ulrich I., Borenstein J., “VFH+: reliable obstacle avoidance for fast mobile robots”, , 1998 IEEE International Conference on Robotics and Automation, 1998, 1572–1577.
- [10] http://www.youtube.com/user/osmpiap
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-9aa1e208-4468-41fa-afa7-49ad92a2e33f