Theoretical approach of model based fault diagnosis for a 4-wheel skid steering mobile robot

In this paper we present a theoretical approach of a model based fault diagnosis for a four wheel skid steering mobile robot (SSMR). The basic idea is to use structural analysis based technique in order to generate residuals. For this purpose we develop the kinematic model of the mobile robot that serves to the creation of the structural model of the system. This technique provides the parity equations which can be used as residual generators. The advantage of the proposed method is that can offers feasible solution to residual generation for nonlinear systems. Pioneer 3-AT was used as a robotic platform.