A methodology to integrate reliability into the conceptual design of safety-critical multirotor unmanned aerial vehicles

Liscouët, Jonathan; Pollet, Félix; Jézégou, Joël; Budinger, Marc; Delbecq, Scott; Moschetta, Jean‐Marc

doi:10.1016/j.ast.2022.107681

Cited by 11 publications

(8 citation statements)

References 47 publications

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“…Step 5: The trial assignment: (1) Find the row and column with the least number of zero elements without lines, that is, traverse all the zero elements without lines to check how many zeros are in rows and columns where the elements are located, and finally select the zero elements in the row and column with the least number of zero elements; (2) Find the zero elements without a line in that row and column, which is an independent zero element. Draw a line for the row and column in which those zero elements are located; (3) Leave elements covered by lines alone for the moment and repeat steps (2) and (3) until there are no lines to draw; (4) Succeed when finding n independent zero elements according to the number of zero elements found in (3) and execute the next step when the number of independent zero elements is less than n.…”

Section: Methods To Assign Tasks To Multiple Uavs In Formation Based ...mentioning

confidence: 99%

“…Multi-UAV cooperative trajectory planning [3] is an indispensable part of multi-UAV mission execution, which is essentially an optimization problem. First, the task is assigned, then combined with flight safety UAV performance and other constraints [4], the optimal trajectory [5] is planned for the UAV formation to meet the flight performance and environmental constraints. Compared with single UAVs, trajectory planning for multiple UAVs to form the formation needs to further consider position constraints and cooperative obstacle avoidance among UAVs.…”

Section: Introductionmentioning

confidence: 99%

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A Four-Dimensional Space-Time Automatic Obstacle Avoidance Trajectory Planning Method for Multi-UAV Cooperative Formation Flight

Zhang

Sheng

Chen

et al. 2022

Drones

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Trajectory planning of multiple unmanned aerial vehicles (UAVs) is the basis for them to form the formation flight. By considering trajectory planning of multiple UAVs in formation flight in three-dimensional space, a trajectory planning method in four-dimensional space-time is proposed which, firstly, according to the formation configuration, adopts the Hungarian algorithm to optimize the formation task allocation. Based on that, by considering the flight safety of UAVs in formation, a hierarchical decomposition algorithm in four-dimensional space-time is innovatively put forward with spatial positions and time constraints both considered. It is applied to trajectory planning and automatic obstacle avoidance under the condition of no communication available between UAVs in the formation. The simulation results illustrated that the proposed method is effective in cooperative trajectory planning and automatic obstacle avoidance in advance for multiple UAVs. Meanwhile, it has been tested in a Swarm Unmanned Aerial System project and boasts quite significant value in engineering applications.

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Section: Methods To Assign Tasks To Multiple Uavs In Formation Based ...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Four-Dimensional Space-Time Automatic Obstacle Avoidance Trajectory Planning Method for Multi-UAV Cooperative Formation Flight

Zhang

Sheng

Chen

et al. 2022

Drones

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“…This category of propellers is characterized by its stiffness and lightweight. The propeller parameters are the diameter D p , the blade number B p and the pitch angle φ p or the pitch which is related to the pitch angle by H p = D p • tan(φ p ) and its model, which describes the propeller thrust T p (N) and torque M p (N • m) in terms of the other parameters given by [21][22][23]:…”

Section: Design Requirementsmentioning

confidence: 99%

Design Optimisation Approach of an Outer Rotor Multiphase PM Actuator for Multirotor Aerial Vehicle Applications

Chahba,

Krebs,

Morel

et al. 2024

Aerospace

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The electric urban air mobility sector has gained significant attraction in public debates, particularly with the proliferation of announcements demonstrating new aerial vehicles and the infrastructure that goes with them. In this context, the development of new methodologies for the design and sizing of actuation systems, ensuring high performances of these aerial vehicles, remains an important task in this process. This will allow for better integration within this transport sector. In this paper, a robust design optimisation approach of multiphase fault-tolerant (FT) outer rotor (OR) permanent magnets (PM) for multirotor aerial vehicle applications is proposed. In order to show the effectiveness and the robustness of the proposed design methodology, the number of stator winding phases, with a fractional slot concentrated winding (FSCW) configuration, as well as the PM configuration are considered as variables. Thus, four cases for the number of phases are considered, namely 3, 5, 6 and 7 phases, where for each number of phases case, the PM takes 3 configurations, namely surface PM, interior V-shape PM and interior spoke PM. First, a pre-sizing step is carried out, consisting of selecting the optimal combinations slot/pole, designing the multiphase FSCW layout, and estimating the electric motor (EM) geometry using analytical computations to obtain a preliminary validation of the design specifications. Second, constrained multiobjective optimisation is considered in order to optimise the EM performances, such as motor efficiency and weight, under constraints where the FEMM/Matlab based Finite Element Analysis (FEA) tool is used to perform this optimisation. Finally, results analysis and performance comparisons of different EM configurations are carried out in order to assess the design parameters, such as phases number, PM position, and harmonic currents in the EM design and consequently to select the best configuration for the considered application.

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“…Due to their cost efficiency and numerous possibilities for use in a wide range of civil, commercial and industrial applications (inspection of power lines, inspection of road infrastructure, bridges, inspection of oil pipelines, inspection of industrial facilities of strategic interest, e.g., oil refineries, nuclear power plants, inspection of disaster areas), multirotor UAVs have already been the subject of study for more than a decade. Since then, numerous research studies have been carried out on the modelling [ 33 , 34 , 35 ] and design of actuation, command and control systems [ 36 ] and the development of various design solutions [ 37 , 38 ]. Despite the abundance of the scientific literature, the topicality of the subject remains high, due to the subtle balance between the sensor features and involved outlays.…”

Section: Introductionmentioning

confidence: 99%

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

Stamate

Pupăză

Nicolescu

et al. 2023

Sensors

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Today, there is a conspicuous upward trend for the development of unmanned aerial vehicles (UAVs), especially in the field of multirotor drones. Their advantages over fixed-wing aircrafts are that they can hover, which allows their usage in a wide range of remote surveillance applications: industrial, strategic, governmental, public and homeland security. Moreover, because the component market for this type of vehicles is in continuous growth, new concepts have emerged to improve the stability and reliability of the multicopters, but efficient solutions with reduced costs are still expected. This work is focused on hexacopter UAV tests carried out on an original platform both within laboratory and on unrestricted open areas during the start–stop manoeuvres of the motors to verify the operational parameters, hover flight, the drone stability and reliability, as well as the aerodynamics and robustness at different wind speeds. The flight parameters extracted from the sensor systems’ comprising accelerometers, gyroscopes, magnetometers, barometers, GPS antenna and EO/IR cameras were analysed, and adjustments were performed accordingly, when needed. An FEM simulation approach allowed an additional decision support platform that expanded the experiments in the virtual environment. Finally, practical conclusions were drawn to enhance the hexacopter UAV stability, reliability and manoeuvrability.

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A methodology to integrate reliability into the conceptual design of safety-critical multirotor unmanned aerial vehicles

Cited by 11 publications

References 47 publications

A Four-Dimensional Space-Time Automatic Obstacle Avoidance Trajectory Planning Method for Multi-UAV Cooperative Formation Flight

A Four-Dimensional Space-Time Automatic Obstacle Avoidance Trajectory Planning Method for Multi-UAV Cooperative Formation Flight

Design Optimisation Approach of an Outer Rotor Multiphase PM Actuator for Multirotor Aerial Vehicle Applications

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

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