Fault Detection and Identification in a Mobile Robot Using Multiple-Model Estimation

This paper introduces a method to detect and identify faults in wheeled mobile robots. The idea behind the method is to use adaptive estimation to predict (in parallel) the outcome of several faults. Models of the system behavior under each type of fault are embedded in the various parallel estimators (each of which is a Kalman Filter). Each lter is thus tuned to a particular fault. Using its embedded model each lter predicts values for the sensor readings. The residual (the di erence between the predicted and actual sensor reading) is an indicator of how well the lter is performing. A fault detection and identi cation module is responsible for processing the residual to decide which fault has occurred. As an example the method is implemented successfully on a Pioneer I robot. The paper concludes with a discussion of future work.