アクティブ耐故障型クアッドロータの実験システム設計
Experimental System Design of an Active Fault-Tolerant Quadrotor
ロータ故障時にヨー制御を放棄して耐故障制御へ移行する検出・制御手法と、回転抗力調整用のモジュール式付加物を組み合わせ、追加センサや計算資源なしで耐故障性を実現するクアッドロータを設計・検証した。
著者: Jennifer Yeom, Roshan Balu T M B, Guanrui Li, Giuseppe Loianno
分類: cs.RO
原文アブストラクト
Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they remain vulnerable to rotor failures. In this paper, we propose an algorithmic and mechanical approach to addressing the quadrotor fault-tolerant problem in case of rotor failures. First, we present a fault-tolerant detection and control scheme that includes various attitude error metrics. The scheme transitions to a fault-tolerant control mode by surrendering the yaw control. Subsequently, to ensure compatibility with platform sensing constraints, we investigate the relationship between variations in robot rotational drag, achieved through a modular mechanical design appendage, resulting in yaw rates within sensor limits. This analysis offers a platform-agnostic framework for designing more reliable and robust quadrotors in the event of rotor failures. Extensive experimental results validate the proposed approach providing insights into successfully designing a cost-effective quadrotor capable of fault-tolerant control. The overall design enhances safety in scenarios of faulty rotors, without the need for additional sensors or computational resources.
