Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Lift Failure Detection and Management System for Quadrotors
Year:2013
Research Areas
  • Automatic
Information
Abstract
In the last decade, the use of small autonomous unmanned aerial vehicles (UAVs) has been generalized. Specially, multirotor vehicles become really popular and are being employed in several different applications and fields: military missions, agricultural processes, rescue and surveillance operations, audiovisual productions.. and even have arrived to the public at large. This entertainment approach has set some challenges still unresolved: among them, the safety of these systems. The work presented in this paper is framed in this challenge, focusing on the multirotors systems behaviour when facing a lift problem. It has been tried to detect and manage emergency situations, being the goal to minimize as much as possible the potential damages. It started from a deep study of the main malfunctions or breakdowns affecting to the drone?s lift. This study flowed into the design and develop of a model-based algorithm able to detect this events in a fast and robust way. This failure monitor allows to effectively apply control techniques to compensate (if it is possible) the breakdown?s effects and to use passive safety methods (e.g. parachutes) to minimize the potential damages derived from a fall. The system and techniques developed in this work were tested both in simulation and in real experiments, proving they suppose and increment in the operation?s safeness (i.e. both the own drone and the third party agents, safety methods).
International
Si
Congress
Advances in Intelligent Systems and Computing
960
Place
Reviewers
No
ISBN/ISSN
978-3-319-03412-6
10.1007/978-3-319-03413-3_8
Start Date
28/11/2013
End Date
29/11/2013
From page
103
To page
114
ROBOT2013: First Iberian Robotics Conference. Advances in Robotics, Vol. 1
Participants
  • Autor: Juan Jesus Roldan (CAR (UPM-CSIC))
  • Autor: David Sanz Muñoz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)