Publications / 2011 Proceedings of the 28th ISARC, Seoul, Korea
This work is concerned on sensitivity analysis of semiautonomy algorithm of mobile robot to environmental sensors failures. The construction of the robot, semiautonomy algorithm and used sensors have been described. The algorithm bases on a reactive hybrid approach that merges data from different types of sensors and calculates resulting velocities. This algorithm takes also into account environmental sensors damage by modifying the behavior of robot in accordance to actual sensors set state of health. Simulation research using Matlab/Simulink package and experimental tests results of semiautonomy algorithm were presented. The experimental tests were carried out in outdoor conditions. The research and tests were performed for normal environmental sensors operation and for selected sensors damage. On that basis, sensitivity of semiautonomy algorithm to selected environmental sensors damage was tested.