Article
Version 1
Preserved in Portico This version is not peer-reviewed
Event-Based Emergency Detection for Safe Drone
Version 1
: Received: 17 May 2022 / Approved: 23 May 2022 / Online: 23 May 2022 (10:57:36 CEST)
A peer-reviewed article of this Preprint also exists.
Kim, I.; Kim, H.-G.; Kim, I.-Y.; Ohn, S.-Y.; Chi, S.-D. Event-Based Emergency Detection for Safe Drone. Appl. Sci. 2022, 12, 8501. Kim, I.; Kim, H.-G.; Kim, I.-Y.; Ohn, S.-Y.; Chi, S.-D. Event-Based Emergency Detection for Safe Drone. Appl. Sci. 2022, 12, 8501.
Abstract
Quadrotor drones have rapidly gained interest recently. Numerous studies are underway for the commercial use of autonomous drones, and especially the distribution businesses are taking serious reviews on drone delivery services. However, there are still many concerns about urban drone operations. The risk of failures and accidents makes it difficult to provide drone-based services in the real world with ease. There have been many studies that introduced supplementary methods to handle drone failures and emergencies. However, we discovered the limitation of the existing methods. The majority of approaches were improving PID-based control algorithms which is the dominant drone control method. This type of low-level approach lacks situation awareness and the ability to handle unexpected situations. This study introduces an event-based control methodology that takes a high-level diagnosing approach that can implement situation awareness via time-window. While leaving the low-level controller to involve in operating the drone for most of the time in normal situations, our controller operates at a higher level and detects unexpected behaviors and abnormal situations of the drone. We tested our method with real-time 3D computer simulation environments with Unreal Engine[15] and AirSim[31]. We were able to verify that our approach can provide enhanced double safety and better ensure safe drone operations. We hope our discovery to possibly contribute to the advance of real-world drone services in the near future.
Keywords
Safe-drone; Emergency Detection; Time-window; Event-based Control; UAV(Unmanned Aerial Vehicle)/Quadrotor Drone
Subject
Computer Science and Mathematics, Robotics
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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