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)

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270927.pdf - Accepted Version



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
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
Published Online:27 May 2022
Copyright Holders:Copyright © 2022 IEEE
Publisher Policy:Reproduced in accordance with the publisher copyright policy
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