Planeación de misión de vehículos aéreos no tripulados basado en la condición de salud de la batería
2019
Rotorcraft Unmanned Aerial Vehicles (UAV) with take-o and vertical landing capabilities or multi-
rotors have proved to be an ecient and low-cost solution for civil ight applications due to signicant
advances in the development of robust and more ecient altitude and attitude control strategies, plan-
ning and re-planning algorithms capable of detecting and evading obstacles and Fault Diagnosis & Fault
Tolerant Control methods.
In most applications where multirotors are used, they develop dierent task as exploration, photogram-
metry, lming, mapping and more recently all those dedicated to precision agriculture such as irrigation
and crop monitoring. During the development task, the multirotor executes a mission which consists to
y through a set of paths connected by n reference points or way-points inside a known or unknown
area. However, during the mission development, dierent negative factors decrease the multirotor ight
performance such as environmental conditions, occurrence of faults or failures in actuators/sensors and
energetic limitations due to the power source constraints. The energetic limitation problem in a multirotor
are due to power capabilities that on-board battery can supply.
Due to power and energy requirements, the multirotors are powered by Lithium Polymer batteries which
are rechargeable batteries of Lithium-Ion technology. They possess a polymer electrolyte instead of a
liquid electrolyte and provide high power and energy densities. However, according to the use due to
the number of charge/discharge cycles and other factors like damage provoked by over-discharges, the
battery performances tend to decrease. Such decrease or aging causes a reduction in the eciency of the
UAV multirotor ight by decrease the total mission time or ight endurance, and leads to maneuverability
problem, which increases the risk of crash and collision.
This thesis topic addresses the issues concerning to battery performances and its inuence into the mission
and path planning tasks. By considering model-based prognosis techniques and path planning methods, a
hierarchy mission planning strategy based on energy consumption is proposed and validated at simulation
level considering dierent ight situations. The UAV performances, as well as its capability to execute and
fulll a mission is weighted by determine the battery State of Health (SoH) which is an index to measure
the degradation level of the battery. The SoH helps to estimate the battery Remaining Useful Life (RUL)
and establishes the energy limitation by the computation of the Maximum Flight Endurance (MFE). Such
information is necessary to path planning generation which not only consider the constraints related to
the power source but also the scopes and limitations of the mission to be executed. In addition, the main
concern of this thesis are long time-distance missions e.g. exploration or inspection of remote areas where
it is fundamental to have a proper use of energy aboard the multirotor.
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