Fault Diagnosis For A Team Of Planetary Rovers

Swinton, S. and McGookin, E. (2022) Fault Diagnosis For A Team Of Planetary Rovers. In: 2022 UKACC 13th International Conference on Control (CONTROL), Plymouth, United Kingdom, 20-22 April 2022, pp. 94-99. ISBN 9781665452007 (doi: 10.1109/Control55989.2022.9781442)

Abstract

The aim of this work is to evaluate the use of a combined fault detection and isolation system; first for a single planetary rover, then applied as a centralised health monitor to a small team of coordinated rovers. Three fault types are modelled: heading sensor faults, actuator faults, and power failure. Testing is carried out on the central health monitor to evaluate its ability to diagnose faults within a simulated environment. The resulting data suggests that fault diagnosis using only top-level telemetry data can successfully diagnose faults within the rover team.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: McGookin, Dr Euan and Swinton, Sarah
• Authors: Swinton, S., and McGookin, E.
• College/School: College of Science and Engineering; College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
• ISBN: 9781665452007
• Published Online: 27 May 2022
• Copyright Holders: Copyright © 2022 IEEE
• Publisher Policy: Reproduced in accordance with the publisher copyright policy

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