Paper Info
Title
Monitoring of robot path tracking: Reconfiguration strategy design and experimental validation
Abstract
This paper presents experimental validation in real time of fault detection and isolation and fault tolerant control algorithms for healthy monitoring of an Omni-directional platform, called Robotino@. The latter is composed of three actuated subsystems. The purpose of using fault diagnosis algorithms is to supervise the safe operating of the system, and to study the system reconfigurability strategies in order to ensure that the system remains able to follow a desired trajectory. For such purpose, the fault detectability and isolability is based on analytical redundancy relations. The latter are constraint relations expressing the nominal system behavior and they are written in terms of the measured system variables. Once a fault is detected and the faulty actuated subsystem is determined, the system reconfigurability algorithm analyses the redundancy presented on the former and an appropriate control strategy is applied.
Year
DOI
Venue
2013
10.1109/IROS.2013.6697199
Intelligent Robots and Systems
Keywords
Field
DocType
fault diagnosis,mobile robots,navigation,path planning,Robotino,actuated subsystems,analytical redundancy relations,fault detectability,fault detection,fault diagnosis algorithms,fault isolation,fault tolerant control algorithms,faulty actuated subsystem,healthy monitoring,isolability,omnidirectional platform,reconfiguration strategy design,robot path tracking monitoring,system reconfigurability algorithm,system reconfigurability strategies,to supervise th
Motion planning,Reconfigurability,Computer science,Fault detection and isolation,Robotino,Control engineering,Redundancy (engineering),Fault tolerance,Mobile robot,Control reconfiguration
Conference
ISSN
Citations 
PageRank 
2153-0858
0
0.34
References 
Authors
6
4
Name
Order
Citations
PageRank
Samir Benmoussa150.80
LOUREIRO, R.200.34
Youcef Touati3146.10
Rochdi Merzouki411725.83