Self-diagnosis System of an Autonomous Mobile Robot using Internal Sensory Information.

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  • 内界センサ情報に基づいた移動ロボットの自己診断システム
  • ナイカイ センサ ジョウホウ ニ モトヅイタ イドウ ロボット ノ ジコ シンダン システム

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Abstract

Considering that the robots work in real environment, it is very important to recognize its condition by itself. Therefore, we are developing a self-diagnosis system for the autonomous robots. Especially, in this paper, we develop the basic sensory system and self-diagnosis method of an autonomous mobile robot. At first, we discuss the definition and classification of system accident. We also propose actual algorithm and method to diagnosis internal status of the robot using sensory information. The developed sensory system for self-diagnosis consists of multiple sensors, which are equipped on input/output node of each component. We show some experimental result using real autonomous mobile robot and our proposed diagnosis algorithm.

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