Self-diagnosis System of an Autonomous Mobile Robot Using Sensory Information
Shinnosuke Okina*, Kuniaki Kawabata**, Teruo Fujii***, Yasuharu Kunii*, Hajime Asama**** and Isao Endo**
*Department of Electrical and Electronics Engineering, Chuo University
**Biochemical Systems Laboratory, The Institute of Physical and Chemical Research (RIKEN)
***Underwater Technology Research Center, the Institute of Industrial Science, The University of Tokyo
****Advanced Engineering Center, The Institute of Physical and Chemical Research (RIKEN)
In this paper, we describe a basic sensing system for self-diagnosing an autonomous mobile robot. In recent years, many researches on intelligent robots and systems have been done. But, when such robots and systems work in the real environment, it is important for those robots and systems to have the ability to recognize their own conditions for detecting faults. On the point of view, we should consider pay more attention to diagnose in such intelligent systems. Therefore we try to construct an internal sensing system as a self-diagnosis system on a real robot. Especially, in this paper, we discuss about motor system of an autonomous omnidirectional mobile robot, which was developed in RIKEN. The self-diagnosis system consists of multiple sensors, which are voltage, current, encoder, and magnetic sensors. We show some diagnosing experimental results using the real system. From the results, we could collect basic data for fault detection of the system.
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