Actuator fault detection and isolation of differential drive mobile robots using multiple model algorithm

Abstract

An actuator fault detection and isolation (FDI) scheme is proposed in this paper for differential drive mobile robots based on the concept of multiple model approach. The nonlinear kinematic model of the mobile robot is discretized and a bank of Extended Kalman filters (EKF) is designed to detect and isolate faults. Experimental results are presented to demonstrate the efficiency of the proposed FDI approach.