Experimental Fault Detection and Accommodation for an Agricultural Mobile Robot
| Authors: | Oestergaard Kasper, Aalborg University, Denmark
Bisgaard Morten, Aalborg University, Denmark
Vinther Dennis, Aalborg University, Denmark
Izadi-Zamanabadi Roozbeh, Aalborg University, Denmark
Bendtsen Jan D., Aalborg University, Denmark |
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| Topic: | 6.4 Safeprocess |
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| Session: | Fusion of Analytical and Soft Computing Methods in Fault Diagnosis |
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| Keywords: | Fault diagnosis, fault-tolerant control, mobile robot |
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Abstract
This paper presents a systematic procedure to achieve fault tolerant capability for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The procedure is examplified through the paper by applying on a compass module. Detailed methods for fault detection and fault accommodation for compass faults are discussed and the results are verified through field tests.
