Detection and Diagnosis of Sensor and Actuator Faults in Mobile Robot via Interacting Multiple-Model Estimator

摘要

A fault detection and diagnosis (FDD) of sensors and actuators in mobile robot is proposed. It is based on the interacting multiple-model (IMM) estimator. To provide better fault decision, mode probability averaging and heuristic decision-making rule are incorporated into the IMM based algorithm. Experimental results validate the effectiveness of the proposed FDD method.