Methods for failure detection for mobile manipulation release_2zryxhebifcidljdfvdr6x2nhm

Abstract

The work presented in this paper focuses on the comparison of well-known and new fault-diagnosis algorithms in the robot domain. The main challenge for fault diagnosis is to allow the robot to effectively cope not only with internal hardware and software faults but with external disturbances and errors from dynamic and complex environments as well. Based on a study of literature covering fault-diagnosis algorithms, I selected four of these methods based on both linear and non-linear models, analysed and implemented them in a mathematical robot-model, representing a four-wheels-OMNI robot. In experiments I tested the ability of the algorithms to detect and identify abnormal behaviour and to optimize the model parameters for the given training data. The final goal was to point out the strengths of each algorithm and to figure out which method would best suit the demands of fault diagnosis for a particular robot.
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