Accession Number:

ADP012686

Title:

Particle Filters for Real-Time Fault Detection in Planetary Rovers

Descriptive Note:

Conference paper

Corporate Author:

NATIONAL AERONAUTICS AND SPACE ADMINISTRATION MOFFETT FIELD CA AMES RESEARCHCENTER

Personal Author(s):

Report Date:

2002-05-04

Pagination or Media Count:

6.0

Abstract:

Planetary rovers provide a considerable challenge for artificial intelligence in that they must operate for long periods autonomously, or with relatively little intervention. To achieve this, they need to have on-board fault detection and diagnosis capabilities. Traditional model-based diagnosis techniques are not suitable for rovers due to the tight coupling between the vehicles performance and its environment. Hybrid diagnosis using particle filters is presented as an alternative, and its strengths and weaknesses are examined. We also present some extensions to particle filters that are designed to make them more suitable for use in diagnosis problems.

Subject Categories:

  • Statistics and Probability
  • Operations Research
  • Cybernetics
  • Unmanned Spacecraft

Distribution Statement:

APPROVED FOR PUBLIC RELEASE