A fault tolerant architecture for data fusion: A real application of Kalman filters for mobile robot localization

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• 作者：Kaci Bader ; ^{kaci.bader@hds.utc.fr} ; Author Vitae ; Benjamin Lussier ^{benjamin.lussier@hds.utc.fr}Author Vitae ; Walter Schö ; n ^{walter.schon@hds.utc.fr}Author Vitae
• 关键词：Data fusion ; Multi-sensor perception ; Dependability ; Fault tolerance
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：88
• 期：Complete
• 页码：11-23
• 全文大小：2035 K
• 卷排序：88

文摘

We propose a fault tolerance architecture in multisensor data fusion. We use the main classical Duplication/Comparison method for fault tolerance. We detail an application on vehicle localization for this architecture. We detail the error detection, system recovery services for our approach. We present our experimental study validating our approach using real data and fault injection.