Publications / 2011 Proceedings of the 28th ISARC, Seoul, Korea

Sensitivity Analysis of Semiautonomy Algorithm of Mobile Robot to Environmental Sensors' Failure - Simulation Research and Experimental Tests

Piotr Bigaj, Jakub Bartoszek, Maciej Trojnacki
Pages 795-800 (2011 Proceedings of the 28th ISARC, Seoul, Korea, ISBN 978-89-954572-4-5, ISSN 2413-5844)
Abstract:

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.

Keywords: Mobile Robot, Semiautonomy Algorithm, Sensors' Failure, Simulation Research, Experimental Tests, Algorithm Sensitivity Analysis, Hybrid Reactive Approach