Artículo
Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications
Autor/es | Suárez, Alejandro
Heredia Benot, Guillermo Ollero Baturone, Aníbal |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2018 |
Fecha de depósito | 2019-08-21 |
Publicado en |
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Resumen | This paper considers the problem of fault detection and identification (FDI) in applications carried out by a group of unmanned aerial vehicles (UAVs) with visual cameras. In many cases, the UAVs have cameras mounted onboard ... This paper considers the problem of fault detection and identification (FDI) in applications carried out by a group of unmanned aerial vehicles (UAVs) with visual cameras. In many cases, the UAVs have cameras mounted onboard for other applications, and these cameras can be used as bearing-only sensors to estimate the relative orientation of another UAV. The idea is to exploit the redundant information provided by these sensors onboard each of the UAVs to increase safety and reliability, detecting faults on UAV internal sensors that cannot be detected by the UAVs themselves. Fault detection is based on the generation of residuals which compare the expected position of a UAV, considered as target, with the measurements taken by one or more UAVs acting as observers that are tracking the target UAV with their cameras. Depending on the available number of observers and the way they are used, a set of strategies and policies for fault detection are defined. When the target UAV is being visually tracked by two or more observers, it is possible to obtain an estimation of its 3D position that could replace damaged sensors. Accuracy and reliability of this vision-based cooperative virtual sensor (CVS) have been evaluated experimentally in a multivehicle indoor testbed with quadrotors, injecting faults on data to validate the proposed fault detection methods. |
Identificador del proyecto | H2020 644271
FP7 288082 DPI2015-71524-R DPI2014-5983-C2-1-R FPU |
Cita | Suárez, A., Heredia Benot, G. y Ollero Baturone, A. (2018). Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications. Journal of Sensors, 2018, Article number 4515828. |
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