Prediction of multiple failures for a mobile robot steering system

• Main Authors: Yu, Ming, Wang, Danwei, Chen, Qijun
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/102129; http://hdl.handle.net/10220/16373
• Institution: Nanyang Technological University

Fault diagnosis and failure prognosis are critical techniques to improve the safety and reliability of modern complex electromechanical systems. In this paper, a model-based prognosis method is developed to deal with multiple incipient faults in a mobile robot steering system. This method utilizes the concept of Augmented Global Analytical Redundancy Relations (AGARRs) to handle failures with both parametric and non-parametric nature. In order to realize multiple failures prediction, a multiple Hybrid Particle Swarm Optimization (HPSO) algorithm is proposed. Simulation results verify the effectiveness of the proposed method in a front steering system of a CyCab mobile robot.