Zakaria, Mohd. Sharif and Abas, Mohammad Fadhil and Mohd Saad, Norhafizah and Sulaiman, Mohd Herwan and Pebrianti, Dwi (2025) Anomaly detection in quadcopter flight: harnessing frequency domain analysis and barnacle mating optimization. Bulletin of Electrical Engineering and Informatics, 14 (4). pp. 3146-3160. ISSN 2089-3191 E-ISSN 2302-9285
|
PDF
- Published Version
Download (9MB) | Preview |
Abstract
Ensuring the safety and efficiency of unmanned aerial vehicles (UAVs) requires effective fault detection and identification (FDI). Traditional multi-stage FDI methods, particularly those using residual detection layers, increase complexity and computational cost, limiting real-time applications. This study proposes a single-stage anomaly detection framework integrating barnacle mating optimization (BMO) with discrete cosine transform (DCT) for UAV fault detection. While prior research explored model-based and data-driven FDI, bio-inspired optimization techniques remain underexplored in frequency-domain analysis. This study develops a BMO-based fitness function analyzing 3rd, 5th, and 7th harmonic peaks to detect UAV anomalies. Software-in-the-Loop (SITL) simulations validate the method, achieving a 5-second optimal frame size, mean absolute percentage error (MAPE) of 0.05, and root mean square error (RMSE) of 195.52. The findings confirm that a single-stage detection framework via optimization method and frequency domain analysis is possible, making it viable for real-time UAV applications. This study bridges the gap in bio-inspired UAV fault detection, paving the way for safer and more efficient UAV operations
| Item Type: | Article (Journal) |
|---|---|
| Uncontrolled Keywords: | Anomaly detection, Barnacle mating optimization, Frequency domain analysis, Quadcopter, Vibration analysis |
| Subjects: | T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): | Kulliyyah of Engineering > Department of Mechanical Engineering |
| Depositing User: | Dr Dwi Pebrianti |
| Date Deposited: | 18 Aug 2025 16:14 |
| Last Modified: | 18 Aug 2025 16:14 |
| URI: | http://irep.iium.edu.my/id/eprint/122394 |
Actions (login required)
 |
View Item |
Download Statistics
Download Statistics