Fault Diagnosis For A Team Of Planetary Rovers

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.