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Artificial Immune System For Unmanned Aerial Vehicle Abnormal Condition Detection And Identification, Ryan G. Mclaughlin
Artificial Immune System For Unmanned Aerial Vehicle Abnormal Condition Detection And Identification, Ryan G. Mclaughlin
Graduate Theses, Dissertations, and Problem Reports
A detection and identification scheme for abnormal conditions was developed for an unmanned aerial vehicle (UAV) based on the artificial immune system (AIS) paradigm. This technique involves establishing a body of data to represent normal conditions referred to as “self” and differentiating these conditions from abnormal conditions, referred to as “non-self”. Data collected from simulation of the UAV attempting to autonomously fly a pre-decided trajectory were used to develop and test a scheme that was able to detect and identify aircraft sensor and actuator faults. These faults included aerodynamic control surface locks and damages and angular rate sensor biases. The …