A model based design framework for safety verification of a semi-autonomous inspection drone
A model based design framework for safety verification of a semi-autonomous inspection drone
复制标题
基于模型的半自主巡检无人机安全验证设计框架
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
S. Veres
中科院分区：
文献类型：
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作者：
O. McAree;Jonathan M. Aitken;S. Veres
在本文中，我们提出了一种基于模型的设计方法，半自主控制系统的检查无人机的发展。该系统的任务是保持与被检查目标的设定距离和恒定的相对姿态，使操作员能够轻松地在目标周围操纵无人机。在实际实施之前，必须彻底验证自主行为的鲁棒性，因为这将涉及大型多旋翼无人机在接近固体结构的情况下飞行。通过利用机器人操作系统在自主控制器和无人机之间进行通信，相同的Simulink模型可用于数值覆盖测试、高保真仿真、非机载执行和最终可执行部署。
In this paper, we present a model based design approach to the development of a semi-autonomous control system for an inspection drone. The system is tasked with maintaining a set distance from the target being inspected and a constant relative pose, allowing the operator to manoeuvre the drone around the target with ease. It is essential that the robustness of the autonomous behaviour be thoroughly verified prior to actual implementation, as this will involve the flight of a large multi-rotor drone in close proximity to a solid structure. By utilising the Robotic Operating System to communicate between the autonomous controller and the drone, the same Simulink model can be used for numerical coverage testing, high fidelity simulation, offboard execution and final executable deployment.