Abstract
This paper describes a method of fault diagnosis of dead reckoning and external sensor (laser range sensor, LRS) for mobile robot. Each robot in cooperation detects the fault of in-vehicle senors by comparing the velocity estimates with its own two velocity providers: dead reckoning and laser based scan matcher. When the robot detects the sensor fault, it exchanges the LRS data with the other robots, and the robots estimate their positions with laser based scan matcher and in-vehicle passive beacon (reflector). Comparison of the position estimates allows identifying which sensor fails. Experimental results validate the effectiveness of our method.
