A Sensor Fault Detection Simulation Tool
Abstract (Summary)As the demand for fault detection of sensors increases in the field of autonomous mobile robots, a tool is needed to easily allow sensor fault detection algorithms to be compared and analyzed. The focus of this thesis is on the development of such a tool. More specifically, this work presents a demonstration of the tool by comparing two sensor fault detection algorithms: the interacting multiple model (IMM) estimator and the simple fault detector (SFD). The IMM is a well known algorithm and is highly regarded in literature. The SFD is a novel algorithm. The simulation tool was written in C# and was used to simulate a four-wheeled robot with four navigation sensors. The user interface allows the user to select a predefined path type for the robot to traverse, specify its length, and cause any sensor to fail during a simulation run.
School Location:USA - Ohio
Source Type:Master's Thesis
Date of Publication:01/01/2007