On the application of structural analysis to fault diagnosis of a mobile robot

We investigate a model based fault diagnosis method for a four wheel skid steering mobile robot (SSMR). Through this study we use a technique based on structural analysis that allows generating residuals. The research goal is to provide early fault diagnosis. To achieve this we use the kinematic model of the mobile robot that helps to the design of the structural model. The main contribution of this approach is that can provide an effective solution to the residual generation in nonlinear systems. In order to prove the efficacy of the proposed method, an experimental procedure was carried out using a Pioneer 3-AT mobile robot.