IngentaConnect A system for self-diagnosis of an autonomous mobile robot using a...

Authors: Kawabata K.; Okina S.; Fujii T.; Asama H.

Source: Advanced Robotics, Volume 17, Number 9, 2003 , pp. 925-950(26)

Abstract:

Considering that intelligent robotic systems work in a real environment, it is important that they themselves have the ability to determine their own internal conditions. Therefore, we consider it necessary to pay some attention to the diagnosis of such intelligent systems and to construct a system for the self-diagnosis of an autonomous mobile robot. Autonomous mobile systems must have a self-contained diagnostic system and therefore there are restrictions to building such a system on a mobile robot. In this paper, we describe an internal state sensory system and a method for diagnosing conditions in an autonomous mobile robot. The prototype of our internal sensory system consists of voltage sensors, current sensors and encoders. We show experimental results of the diagnosis using an omnidirectional mobile robot and the developed system. Also, we propose a method that is able to cope with the internal condition using internal sensory information. We focus on the functional units in a single robot system and also examine a method in which the faulty condition is categorized into three levels. The measures taken to cope with the faulty condition are set for each level to enable the robot to continue to execute the task. We show experimental results using an omnidirectional mobile robot with a self-diagnosis system and our proposed method.

Keywords: Self-diagnosis system; autonomous robot; internal sensory system; coping measures.

Document Type: Research article

DOI: 10.1163/156855303770558697

The full text electronic article is available for purchase. You will be able to download the full text electronic article after payment.

$25.00 plus tax

A system for self-diagnosis of an autonomous mobile robot using an internal state sensory system: fault detection and coping with the internal condition