Fault Detection for Wheeled Mobile Robots with Parametric Uncertainty∗

نویسنده

  • D. M. Dawson
چکیده

In this paper, we develop a new method for Wheeled Mobile Robot (WMR) fault detection. Specifically, we develop kinematic and dynamic models of the WMR in the presence of faults such as a change in the wheel radius (e.g., deformation, broken spoke, flat tire) or general kinematic disturbances that model slipping or skidding faults. Utilizing the WMR models, we employ a torque filtering technique to develop a prediction error based fault detection residual. The structure of the prediction error allows for fault detection despite parametric uncertainty in the WMR model.

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تاریخ انتشار 2000