Establish of quantification technique of sensor signal reliability based on probability theory and proposition of construction method of its control system

2015 Fiscal Year Final Research Report

• Project/Area Number: 26820167
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Kyushu Institute of Technology
• Principal Investigator: Nishida Takeshi 九州工業大学, 大学院工学研究院, 准教授 (30346861)
• Project Period (FY): 2014-04-01 – 2016-03-31
• Keywords: パーティクルフィルタ / センサノイズ / 状態フィードバック / 制御系

Outline of Final Research Achievements

The purpose of this research is to establish an estimation method of probabilistic distribution of noise included in sensor signals and a quantification method of abnormal signals by using particle filters (PF). The structure of point estimation from particle distribution of the PF, the structure of evaluation of the reliability of the estimate, and the method to incorporate them into a state feedback control system had been developed. In addition, we developed a visualizer to observe the transition in time for particle distribution of the PF. It was confirmed by simulations that the developed method enables separation of abnormal sensor signal selectively and executes the state estimation and state feedback control appropriately.

Free Research Field

確率ロボティクス