- Tytuł:
- The Analysis of Influence of Sensors’ Failure on the Performance of Mobile Robot Autonomy
- Autorzy:
-
Bigaj, P.
Bartoszek, J.
Trojnacki, M. - Powiązania:
- https://bibliotekanauki.pl/articles/385037.pdf
- Data publikacji:
- 2014
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
mobile robot
semiautonomy algorithm
sensors failure
matlab/Simulink
simulation research
algorithm sensitivity analysis
hybrid reactive approach - Opis:
- This work is concerned on sensitivity analysis of semiautonomy algorithm of a mobile robot to environmental sensors’ failures. Construction of the robot, semiautonomy algorithm and used sensors have been described. The algorithm bases on a reactive hybrid approach that merges data from different types of sensors and calculates resulting velocities. This algorithm also takes into account environmental sensors’ damage by modifying the behavior of robot in accordance to actual sensors’ set state of health. Simulation research using Matlab/ Simulink package and experimental tests’ results of semiautonomy algorithm were presented. The experimental tests were carried out in outdoor conditions. The research and tests are performed for normal environmental sensors’ operation and for selected sensors’ damage. On that basis, sensitivity of semiautonomy algorithm to selected environmental sensors damage was tested.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 4; 31-39
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł