Fault tolerant calculation method of predicting road condition for network-connected wheelchair

This paper deals with a fault tolerant calculation method for sensor network. We applied the method to our developed network-connected wheelchair for the purpose of predicting road conditions. Generally, sensing and communication system has the problem of transient faults in which some nodes are suddenly disappeared from the network because of network trouble and/or sensor breakage. In the case of calculation which uses all necessary nodes, this kind of problem makes the calculation failure. In this paper, we propose our Mahalanobis-distance based method to be able to calculate even when some nodes are disappeared from the network.