Fault Detection and Analysis of Control Software for a Mobile Robot

Abstract

In certain circumstances mobile robots are unreachable from human being, for example Mars exploration rover. So robots should detect and handle faults of control software themselves. This paper is intended to detect faults of control software by computers. Support vector machine (SVM) based classification is applied to fault diagnostics of control software for a mobile robot. Both training and testing data are sampled by simulating several fault software strategies and recording the operation parameters of the robot. The correct classification percentages for different situations are discussed