Fault detection using redundant navigation modules

Paul Sundvall, Patric Jensfelt, and Bo Wahlberg

Abstract:

Mobile robots and other moving vehicles need to know their position with a certain level of confidence. In this paper, 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. 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.

BibTeX Entry:

@InProceedings{Sundvall06b,
  author =       {Paul Sundvall and Patric Jensfelt and Bo Wahlberg},
  title =        {Fault detection using redundant navigation modules},
  booktitle =    {Proc.~of the 6th IFAC Symposium on Fault Detection,
Supervision and Safety of Technical Processes, SAFEPROCESS 2006},
  year =         2006
}

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