摘要：随着计算机理论、电子信息技术、自动控制理论、机械自动化等学科的发展和新型材料的应用，移动机器人技术突飞猛进。移动机器人已被广泛应用于工业、农业、军事、太空探索、深海探索、医疗、救援和日常生活中。现代的工农产业、军事领域的日趋复杂化以及人们对生活质量的不断追求，使得对移动机器人功能要求越来越高，制造机器人技术也越来越先进、部件越来越复杂。从简单到智能化、从人工到自主运行、从已知环境到未知环境、从单机器人操作到多机器人协调及编队工作等等，这些应用都对移动机器人的稳定性提出了一定要求。4250
如果移动机器人在带故障状态下运行，一方面会使移动机器人的寿命缩短，另一方面还可能带来灾难性的后果。即使花费大量人力物力和资金投入，对其精心设计和制造移动机器人，在面对未知的、复杂和多变的应用环境时，也经常避免不了会出现故障。因此，对于移动机器人进行故障诊断具有重要意义。
本文在国内外学者对移动机器人故障诊断研究的基础上，引用了相关领域的分析方法，对未知环境下的移动机器人故障诊断进行了深入的研究。主要工作如下：首先，手动拆解合时机器人硬件部分，分析各个硬件可能导致的故障，并且分析罗列出来的故障的发生概率，综合所有故障罗列出一张故障树。接着通过对故障获取的数据和正常运行状态下的数据的分析比较，并且利用灰色关联理论，对故障进行定位；最后，利用matlab仿真对故障诊断方法进行验证。
综上，本文归纳了基于移动机器人的故障树，并利用灰色关联理论对移动机器人进行了故障诊断，仿真实验和实物试验证明该方法具有良好的效果。
关键词： 故障诊断；灰色关联性；移动机器人；Matlab；故障树；
Study on the fault diagnosis for mobile robot
based on grey relation theory
Abstract： With the development of computer technology, electronic technology, control theory, mechanical engineering and the applications of new materials, new components, mobile robot technology change quickly and continuously. Mobile robots have been widely used in  industrial, agriculture, military, space exploration, deep sea exploration, military, space exploration , deep sea exploration , medical care , rescue ,daily life , etc. Modern industry and agriculture, military and other fields is becoming more and more complicated and people are in pursuit of the quality of life of production, making the mobile robot is the increasingly high demand, the robot technology also more and more advanced, complex. From the simple application to intelligent, from artificial participation to self-organization operation, from known to unknown environment application environment, from single robot to multiple robots coordination and formation work and so on, and puts forward some requirements of these applications on mobile robot stability.
If the mobile robot running in fault state, on one hand, shorten the mobile robot's life, on the other hand, may also have a negative impact, sometimes may have disastrous consequences. Even if it takes a lot of manpower and capital investment to the elaborate design and manufacturing of mobile robot, robot can not avoid malfunction when it is facing the unknown, complex and changing environments. Therefore, fault diagnosis is very important to the mobile robot.
Based on the research works from scholars all over the world and with new technique in relative disciplines adopted, this paper has researched deeply on the unknown environment of mobile robot fault diagnosis. The main work is as follows: first of all, through dismantling robot hardware by manual, we are analyzing the fault which the hardware may be lead to and use these fault to list a fault tree. Then through analyzing and comparison the fault data and the normal state of the data,  we use the gray correlation theory to judge the state. finally, the fault diagnosis method are verified by MATLAB simulation. Matlab基于灰色关联理论的移动机械人故障诊断方法研究:http://www.youerw.com/zidonghua/lunwen_825.html