Model-based Sensor Fault Detection System for a Smart Wheelchair
نویسندگان
چکیده
This paper presents a preliminary set of results on the design of a Sensor Fault Detection System (SFDS) for a smart wheelchair to prevent simples navigation sensor faults and hence to reduce the risk of safety hazards. The Structural Analysis technique is considered which uses graph theory to determine which redundancy exists in the sensory system and thus shows the possibility to detect and handle the navigation sensor faults. The considered navigation sensor equipment includes odometric, gyroscopic and laser range measures. Copyright c © 2005 IFAC
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