Model-based fault diagnosis/prognosis for wheeled mobile robots: a review

This paper presents a survey on model-based fault diagnostics and prognostics for wheeled mobile robots (WMRs). Numerous cases of faults diagnosis and prognosis solutions show that, for a complex machine like a WMR, model-based methods that utilize analytical models of the system are desirable because analytical models can well represent the nominal behaviours of the system. On the other hand, data-driven methods are not practical for WMRs since they require a lot of failure cases and data that are too costly, if possible at all, to obtain. Fault prognosis for a system in general and for WMRs in particular is still at the preliminary stage. System models can also be used to predict the remaining useful life of the system.