A Sensor Fault Detection Simulation Tool

by Smith, Jason

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.
Bibliographical Information:


School:Miami University

School Location:USA - Ohio

Source Type:Master's Thesis



Date of Publication:01/01/2007

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