McAree, O., Aitken, J.M. and Veres, S.M. (2016) A model based design framework for safety verification of a semi-autonomous inspection drone. In: 2016 UKACC 11th International Conference on Control (CONTROL). UK Automatic Control Conference, 31 Aug - 02 Sep 2016, Belfast, UK. IEEE ISBN 978-1-4673-9891-6
Abstract
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
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 IEEE. This is an author produced version of a paper subsequently published in Control (CONTROL), 2016 UKACC 11th International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Model based design; verification; autonomy; inspection; drone |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/J011843/1 ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/L024942/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 16 Aug 2016 15:49 |
Last Modified: | 19 Dec 2022 13:34 |
Published Version: | https://doi.org/10.1109/CONTROL.2016.7737551 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/CONTROL.2016.7737551 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:103608 |