Original scientific paper
https://doi.org/10.1080/00051144.2020.1733324
Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis
Nedim Osmic
; Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina
Adnan Tahirovic
; Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina
Ivan Petrovic
; Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia
Abstract
Multirotor Aerial Vehicles may be fault-tolerant by design when rotor-failure is possible to measure or identify, especially when a large number of rotors are used. For instance, an octocopter can be capable to complete some missions even when a double-rotor fault occurs during the execution. In this paper, we study how a rotor-failure reduces the vehicle control admissible set and its importance with respect to the selected mission, i.e. we perform mission-related fault-tolerant analysis. Furthermore, we propose a risk-sensitive motion-planning algorithm capable to take into account the risks during the planning stage by means of mission-related fault-tolerant analysis. We show that the proposed approach is much less conservative in terms of selected performance measures than a conservative risk planner that assumes that the considered fault will certainly occur during the mission execution. As expected, the proposed risk-sensitive motion planner is also readier for accepting failures during the mission execution than the risk-insensitive approach that assumes no failure will occur.
Keywords
System failure and recovery; fault-tolerant analysis; mission planning; MAV
Hrčak ID:
239872
URI
Publication date:
16.3.2020.
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