Model-Based Sensor Fault Detection System for a Smart Wheelchair

Authors:	Longhi Sauro, Universita` Politecnica delle Marche, Italy Ippoliti Gianluca, Universita` Politecnica delle Marche, Italy Monteriù Andrea, Universita` Politecnica delle Marche, Italy
Topic:	6.4 Safeprocess
Session:	Applications of Fault Diagnosis and Fault Tolerant Control
Keywords:	Fault diagnosis, fault detection and isolation, wheelchair, analytical redundancy relations, structural analysis.

Abstract

This paper presents a preliminary set of results on the design of a Sensor Fault Detection System (SFDS) for a smart wheelchair to prevent simples navigation sensor faults and hence to reduce the risk of safety hazards. The Structural Analysis technique is considered which uses graph theory to determinewhich redundancy exists in the sensory system and thus shows the possibility to detect and handle the navigation sensor faults. The considered navigation sensor equipment includes odometric, gyroscopic and laser range measures.