Publication Date


Document Type


Committee Members

Luther Palmer (Committee Member), Saiyu Ren (Committee Member), Xiaodong Zhang (Advisor)

Degree Name

Master of Science in Electrical Engineering (MSEE)


In this research, a fault-tolerant path planning and obstacle avoidance algorithm is implemented for mobile ground robots. The fault-tolerant system architecture consists of the following three components: (1) an online fault diagnosis module for detecting and estimating actuator faults in the mobile robot; (2) a localization and mapping module for dynamic terrain mapping and obstacle detection; (3) a path planning and obstacle avoidance module for generating way points from a given point to the desired destination, avoiding the detected obstacles and moving along these way points. The online fault diagnostic information is used to compensate for the effect of faults, enabling the robot to automatically move to the destination even in the presence of actuator faults and obstacles. A Qbot2 robot with Kinect vision sensor from Quanser is used for real-time demonstration of the effectiveness of the fault-tolerant system.

Page Count


Department or Program

Department of Electrical Engineering

Year Degree Awarded