Fault detection in wheeled mobile robot based on extended kalman filter

Abstract

This paper deals with the problem of fault detection in wheeled mobile robots. In fact, the robot is controlled in order to follow a desired trajectory given by applying a well-defined control law. However, faults when appeared may affects the actual trajectory and may lead to unacceptable results. To overcome some drawbacks, we design an Extented Kalman Filter (EKF) to diagnosis eventual faults. Then, the performance of an estimator based on an EKF is simulated based MATLAB Simulink simulations. Finally, the estimated state will then be used for system control purposes.