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

@article{Zhuohua2005FaultDA,
  title={Fault Diagnosis and Fault Tolerant Control for Wheeled Mobile Robots under Unknown Environments: A Survey},
  author={Duan Zhuo-hua and Cai Zi-xing and Yu Jin-xia},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  year={2005},
  pages={3428-3433}
}
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… CONTINUE READING