Mid-flight Propeller Failure Detection and Control of Propeller-deficient Quadcopter using Reinforcement Learning

• URL: http://arxiv.org/abs/2002.11564v2
• Date: Mon, 6 Jul 2020 11:31:05 GMT
• Title: Mid-flight Propeller Failure Detection and Control of Propeller-deficient Quadcopter using Reinforcement Learning
• Abstract summary: This paper presents reinforcement learning based controllers for quadcopters with 4, 3, and 2 propellers. The paper also proposes a neural network based propeller fault detection system to detect propeller loss and switch to the appropriate controller.
• Score: 0.2578242050187029
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Quadcopters can suffer from loss of propellers in mid-flight, thus requiring a need to have a system that detects single and multiple propeller failures and an adaptive controller that stabilizes the propeller-deficient quadcopter. This paper presents reinforcement learning based controllers for quadcopters with 4, 3, and 2 (opposing) functional propellers. The paper also proposes a neural network based propeller fault detection system to detect propeller loss and switch to the appropriate controller. The simulation results demonstrate a stable quadcopter with efficient waypoint tracking for all controllers. The detection system is able to detect propeller failure in a short time and stabilize the quadcopter.

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