A Model-based Fault Diagnosis Scheme for Wheeled Mobile Robots

摘要

In this paper, a fault diagnosis scheme for wheeled mobile robots is presented. In the fault detection module, a nonlinear observer is designed based on the mobile robot dynamic model. A fault is detected when at least one of the residuals exceeds its corresponding threshold. After the fault is detected, the fault isolation module is activated to isolate three types of fault: right wheel fault, left wheel fault, and other changing dynamic parameter faults. Three simulation examples are performed to show the effect of each fault to the tracking performance of mobile robot in a real situation. The simulation results demonstrate the effectiveness of our proposed approach for fault detection and isolation in wheeled mobile robots.