Model-based detection and isolation of the wheel slippage and actuator faults of a holonomic mobile robot.
Osman Nuri SahinMehmet Ismet Can DedePublished in: Ind. Robot (2022)
Keyphrases
- mobile robot
- motion planning
- path planning
- indoor environments
- dynamic environments
- obstacle avoidance
- autonomous navigation
- autonomous robots
- mobile robot navigation
- collision avoidance
- automatic detection
- detection method
- multi robot
- mobile robotics
- object detection
- office environment
- detection accuracy
- dc motor
- motion control
- fault diagnosis
- robotic systems
- detection rate
- false alarms
- false positives
- detection algorithm
- control system
- event detection
- computer vision
- anomaly detection
- real time
- image sequences
- collision free
- outdoor environments
- topological map
- simultaneous localization and mapping
- visual servoing
- error detection
- fault detection