Vehicle State Monitoring and Fault Detection System for Unmanned Ground Vehicles (UGV) using Markov Models

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Published Oct 26, 2023
Kalpit Vadnerkar Pierluigi Pisu

Abstract

This research presents a novel fault detection and diagnostics system for unmanned ground vehicles (UGVs) by combining Markov models representing the vehicle's navigation, kinematic behavior, and vehicle dynamics systems. Existing studies do not specifically address the challenges related to UGVs and their complex subsystems or the incorporation of weather and environmental condition data. The proposed system leverages environmental and weather condition data to monitor the UGV's state and detect anomalies in its behavior. By predicting the probability of faults such as collisions, sensor damage, and other malfunctions, the system aims to enhance the safety, reliability, and performance of UGVs. The research will demonstrate the effectiveness of the proposed methodology through case studies and performance evaluation, highlighting its potential application in various real-world scenarios. This work contributes to the ongoing research in prognostics and health management, particularly for autonomous systems, by providing a new approach to fault detection and diagnostics in UGVs.

How to Cite

Vadnerkar, K., & Pisu, P. (2023). Vehicle State Monitoring and Fault Detection System for Unmanned Ground Vehicles (UGV) using Markov Models. Annual Conference of the PHM Society, 15(1). https://doi.org/10.36001/phmconf.2023.v15i1.3539
Abstract 169 | PDF Downloads 122

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Keywords

Fault Detection, Markov Models, Unmanned Ground Vehicles, Reduced Operational Domain, Path Planning, Machine Learning

Section
Doctoral Symposium Summaries

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