Real-Time Model-Based Fault Detection and Isolation for UGVs

The paper presents a model-based sensor fault detection and isolation system applied in real-time to unmanned ground vehicles. Structural analysis is applied on the nonlinear model of the vehicle for building the residual generation module, followed by an ad-hoc residual evaluation module for detecting single and multiple sensor faults. The overall proposed diagnosis scheme has been tested in real-time on a real mobile robot in an outdoors environment and for different tasks. The obtained experimental results are satisfactory in terms of diagnosis performance and real-time implementation.