Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II)

摘要

This paper presents implementation details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis, applied to the nonlinear model of the UGV, is followed to build the residual generation module, followed by a residual evaluation module capable of detecting single and multiple sensor faults, as detailed in part I (Monteriu et al., 2007). The overall proposed sensor fault detection and isolation system has been tested in real-time on the ATRV-Jr mobile robot when following different trajectories in an outdoors environment. The robot sensor suite includes a global positioning system (GPS) antenna, an inertial measurement unit (IMU), and two incremental optical encoders