Hierarchical fault detection and diagnosis for unmanned ground vehicles

This paper presents a fault detection and diagnosis (FDD) method for unmanned ground vehicles (UGVs) operating in multi agent systems. The hierarchical FDD method consisting of three layered software agents is proposed: Decentralized FDD (DFDD), Centralized FDD (CFDD), and Supervisory FDD (SFDD). Whereas the DFDD is based on modular characteristics of sensors, actuators, and controllers connected or embedded to a single DSP, the CFDD is to analyze the performance of vehicle control system and/or compare information between different DSPs or connected modules. The SFDD is designed to monitor the performance of UGV and compare it with local goal transmitted from a ground station via wireless communications. Then, all software agents for DFDD, CFDD, and SFDD interact with each other to detect a fault and diagnose its characteristics. Finally, the proposed method will be validated experimentally via hardware-in-the-loop simulations.

[1]  Li Liu,et al.  Fault detection, diagnostics, and prognostics: software agent solutions , 2005, IEEE Electric Ship Technologies Symposium, 2005..

[2]  Roberto Horowitz,et al.  A fault management system for longitudinal vehicle control in AHS , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[3]  Masayoshi Tomizuka,et al.  A complete fault diagnostic system for automated vehicles operating in a platoon , 2001, IEEE Trans. Control. Syst. Technol..

[4]  J. K. Hedrick,et al.  Fault tolerant nonlinear control with applications to an automated transit bus , 2005 .

[5]  Rolf Isermann,et al.  Fault-Diagnosis Systems , 2005 .

[6]  Rolf Isermann,et al.  Model-based fault detection and diagnosis. Part A: methods , 1998 .

[7]  Xiaowen Fang,et al.  A double-threshold-testing robust method for fault detection and isolation in dynamic systems , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[8]  Bongsob Song,et al.  Integrated fault detection and diagnosis system for longitudinal control of an autonomous all-terrain vehicle (ATV) , 2009 .

[9]  Michel Kinnaert,et al.  Diagnosis and Fault-Tolerant Control , 2004, IEEE Transactions on Automatic Control.

[10]  Youmin Zhang,et al.  Detection and diagnosis of sensor and actuator failures using IMM estimator , 1998 .

[11]  Hugh F. Durrant-Whyte,et al.  A solution to the simultaneous localization and map building (SLAM) problem , 2001, IEEE Trans. Robotics Autom..