Puneet Goel, Goksel Dedeoglu, Stergios I. Roumeliotis, Gaurav S. Sukhatme:

"Fault Detection and Identification in a Mobile Robot Using Multiple Model Estimation and Neural Network "



We propose a method to detect and identify faults in wheeled mobile robots. The idea behind the method is to use adaptive estimation to predict the outcome of several faults, and to learn them collectively as a fail­ ure pattern. Models of the system behavior under each type of fault are embedded in multiple parallel Kalman Filter (KF) estimators. Each KF is tuned to a partic­ ular fault and predicts, using its embedded model, the expected values for the sensor readings. The residual, the difference between the predicted readings (based on certain assumptions for the system model and the sen­ sor models) and the actual sensor readings, is used as an indicator of how well each filter is performing. A backpropagation Neural Network processes this set of residuals as a pattern and decides which fault has oc­ curred, that is, which filter is better tuned to the cor­ rect state of the mobile robot. The technique has been implemented on a physical robot and results from ex­ periments are discussed.