クアッドロータの制御喪失を検出する新指標
A novel metric for detecting quadrotor loss-of-control
アクチュエータ能力に基づく指標を提案し、故障や急激なヨー運動によるクアッドロータの制御喪失をシミュレーションと実機データで検出できることを示した。
著者: Jasper van Beers, Prashant Solanki, Coen de Visser
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Unmanned aerial vehicles (UAVs) are becoming an integral part of both industry and society. In particular, the quadrotor is now invaluable across a plethora of fields and recent developments, such as the inclusion of aerial manipulators, only extends their versatility. As UAVs become more widespread, preventing loss-of-control (LOC) is an ever growing concern. Unfortunately, LOC is not clearly defined for quadrotors, or indeed, many other autonomous systems. Moreover, any existing definitions are often incomplete and restrictive. A novel metric, based on actuator capabilities, is introduced to detect LOC in quadrotors. The potential of this metric for LOC detection is demonstrated through both simulated and real quadrotor flight data. It is able to detect LOC induced by actuator faults without explicit knowledge of the occurrence and nature of the failure. The proposed metric is also sensitive enough to detect LOC in more nuanced cases, where the quadrotor remains undamaged but nevertheless losses control through an aggressive yawing manoeuvre. As the metric depends only on system and actuator models, it is sufficiently general to be applied to other systems.
