Grid based fault detection and calibration of sensors on mobile robots
Grid based fault detection and calibration of sensors on mobile robots
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基于网格的移动机器人传感器故障检测与校准
DOI：
10.1109/robot.1997.619351
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
Martin Soika
中科院分区：
文献类型：
--
作者：
Martin Soika
本文提出了一种概念，故障检测和校准的外部传感器上的移动的机器人，基于网格表示的环境。对于每一个网格单元一致性措施，通过评估它们存储的信息。然后使用这些测量来仔细考虑所涉及的传感器的状况。因此，移动的机器人配备有在其操作期间检测故障传感器的能力。该方法适用于未知环境，并且在故障和传感器类型方面具有灵活性。此外，它允许在没有任何参考对象的未知环境中进行传感器校准。该方法通过自主移动的机器人ROAMER使用超声波传感器的几个实验进行了验证。
This paper presents a concept for fault detection and calibration of external sensors on mobile robots, based on a grid representation of the environment. For every grid cell consistency measures are derived by evaluating the information stored in them. The measures are then used to deliberate about the condition of the involved sensors. Thereby a mobile robot is equipped with the capability of detecting faulty sensors during its operation. The approach is suitable for unknown environments and is flexible in terms of failure and sensor types. Furthermore, it allows sensor calibration in unknown environments without any reference objects. The approach was verified by several experiments with the autonomous mobile robot ROAMER using ultrasonic sensors.