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

摘要

This work is concerned on sensitivity analysis of semiau-tonomy algorithm of a mobile robot to environmental sensors ’ failures. Construction of the robot, semiauton-omy algorithm and used sensors have been described. The algorithm bases on a reactive hybrid approach that merges data from different types of sensors and calcu-lates 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 experi-mental tests were carried out in outdoor conditions. The research and tests are performed for normal envi-ronmental sensors ’ operation and for selected sensors’ damage. On that basis, sensitivity of semiautonomy al-gorithm to selected environmental sensors damage was tested.