Parity Relation Based Fault Detection, Isolation and Reconfiguration for Autonomous Ground Vehicle Localization Sensors

This paper considers fault detection, isolation and reconfiguration (FDIR) for the localization sensors, including the dead reckoning and external sensors, of an autonomous ground vehicle (AGV) designed for use in highly unstructured outdoor environments. Ten sensors are considered in this research....

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Bibliographische Detailangaben
Hauptverfasser:	Lu, Ying, Collins, Emmanuel G , Jr, Selekwa, Majura F
Format:	Report
Sprache:	eng
Schlagworte:	Active & Passive Radar Detection & Equipment AGV(AUTONOMOUS GROUND VEHICLE) ALGORITHMS AUTONOMOUS GROUND VEHICLES CLUTTER COMPONENT REPORTS DETECTORS Electricity and Magnetism EQUATIONS FAULT DETECTION FAULT RECONFIGURATION FDIR(FAULT DETECTION ISOLATION AND RECONFIGURATION) GROUND VEHICLES ISOLATION KALMAN FILTERING KALMAN FILTERS LOCALIZATION SENSORS Numerical Mathematics PARITY EQUATIONS Surface Transportation and Equipment SYMPOSIA
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