Abstract
This paper presents a fault detection and isolation scheme for wheeled mobile robots. A nonlinear observer is designed based on the mobile robot dynamic model. The fault is detected when at least one of the residuals exceeds its corresponding threshold. After that, three observers are activated to isolate three types of faults: right wheel fault, left wheel fault, and the other changed dynamic faults. © 2012 Springer-Verlag.
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CITATION STYLE
Hoang, N. B., Kang, H. J., & Ro, Y. S. (2012). Fault detection and isolation in wheeled mobile robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7389 LNCS, pp. 563–569). https://doi.org/10.1007/978-3-642-31588-6_72
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