Concepedia

Fault Diagnosis and Fault Tolerant Control for Wheeled Mobile Robots under Unknown Environments: A Survey

2006 · 78 citations · 29 references

TL;DR

Fault detection and diagnosis and fault‑tolerant control are becoming critical for wheeled mobile robots, particularly those operating in unknown environments such as planetary exploration. This survey reviews the state‑of‑the‑art in FDD and FTC for wheeled mobile robots to enhance their reliability and safe operation in such settings. It examines core components, kinematic and fault models, inertial navigation error models, and evaluates key approaches including multiple‑model, particle‑filter, sensor‑fusion, and layered fault‑tolerant architectures. The authors identify current challenges, difficulties, and outline future research directions for the field.

Abstract

Fault detection and diagnosis (FDD) and fault tolerant control (FTC) are increasingly important for wheeled mobile robots (WMRs), especially those in unknown environments such as planetary exploration. Due to the importance of reliability and safe operation of WMRs, this paper presents a survey of state-of-the-art in FDD & FTC of WMRs under unknown environments. Firstly, we briefly introduce main components, typical kinematics models and fault models of WMRs and error models of inertial navigation sensors. Secondly, we discuss main approaches for FDD/FTC of WMRs, including multiple model based approach, particle filter based approach, sensor fusion based approach, layered fault tolerant architecture and so on. At last, the main challenges, difficulties and some future trends for the field are offered.