移动机器人的集成型故障诊断方法  

Integrated Fault Diagnosis Method of Mobile Robot

作　　者：张辉[1] 卢李洋[1] 柳玉甜[1] 

机构地区：[1]浙江万里学院,浙江宁波315100

出　　处：《浙江万里学院学报》2012年第2期79-84,共6页Journal of Zhejiang Wanli University

基　　金：浙江省科技厅大学生科技创新项目"多运动状态下的智能小车故障诊断"(2011R419021);宁波市自然科学基金"集成型智能故障诊断技术的研究"(2009A610106)

摘　　要：文章提出了一种移动机器人的集成型故障诊断方法。该方法将移动机器人的运动状态分为静止状态、直线运动状态及转弯状态等。利用卡尔曼滤波器和专家系统对传统故障诊断方法进行有效集成,在不同的运动状态下,考虑不同类型的故障,并根据故障发生的概率值判断故障类型发生的可能性。与传统故障诊断方法相比,集成型故障诊断方法有效改善了误诊和漏诊现象。仿真结果表明在移动机器人故障诊断上的可行性。An Integrated fault diagnosis method of mobile robot is proposed. The motion states of mobile robot include static state,rectilinear movement state,and three kinds of turning states. Integrating Kalman filters and the expert system,the proposed fault corresponding motion detected. Compared wi capability of avoiding proposed method has effectiveness and the s diagnosis method discusses several types of faults in the states. According to the probability of different faults,the type of faults can be th other fault diagnosis methods,the integrated fault diagnosis method improves the the occurrences of misdiagnoses and failures of detection and diagnoses. The been implemented on a mobile robot and the simulation results show the uperiority of the method.

关 键 词：移动机器人 集成型故障诊断 多运动状态:粒子滤波器 

分 类 号：TP277.3[自动化与计算机技术—检测技术与自动化装置]