A Finite State Machine Based Adaptive Mission Control of Mini Aerial Vehicle

Abstract

This paper describes a finite state machine for adaptive mission control of mini aerial vehicles. The purpose of a finite state machine is to support mission control during aerial inspection of high voltage transmission lines and insulators independently from environmental and other conditions. One of the basic application of our mini aerial vehicle research is inspection of high voltage transmission lines during its load mode. Around high voltage transmission lines and towers generating a strong electromagnetic field. An electromagnetic fields can be influence negatively to autonomous flight and mission control should be predicted such us situation to avoid possible accident.

Moreover environmental and weather condition always unpredictable and mission control have to adapt for various type of additional constrains which can be make problem for pre-defined mission map and trajectory.

Therefore, it needs to develop mission control for autonomous flight with an adaptive option or capability. Such mission control provides less workload and safety guarantee for the inspection team during the process.