Study on Fault-Tolerant Method of Mobile Robot Integrated Navigation

Jing Zeng; Xiao Song Guo; Guo Liang Zhang

doi:10.4028/www.scientific.net/AMM.300-301.468

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 300-301Study on Fault-Tolerant Method of Mobile Robot...

Study on Fault-Tolerant Method of Mobile Robot Integrated Navigation

Abstract:

As for the SLAM/DR/MEMS integrated navigation system of mobile robot constructed on the self-made SaecROB-H mobile robot, there exist mutant faults which are likely to occur, such as environment feature recognition error and data association error during mobile robot SLAM procedure, or dead reckoning failure caused by wheel slipping and so on. According to these mutant faults, mutant fault detecting and fault-tolerant filtering method was presented in this paper based on finite memory on-line prediction. At last, simulation was carried out and the results show that the method can improve the stability of mobile robot integrated navigation efficiently.

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Periodical:

Applied Mechanics and Materials (Volumes 300-301)

Pages:

468-474

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.300-301.468

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Online since:

February 2013

Authors:

Jing Zeng, Xiao Song Guo, Guo Liang Zhang

Keywords:

Fault-Tolerant Filter, Integrated Navigation, Kalman Filter (KF), Mobile Robot

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