Cross-entropy optimization for scaling factors of a fuzzy controller : a see-and-avoid approach for unmanned aerial systems


Autoria(s): Olivares-Mendez, Miguel A.; Mejias, Luis; Campoy, Pascual; Mellado-Bataller, Ignacio
Data(s)

2013

Resumo

The Cross-Entropy (CE) is an efficient method for the estimation of rare-event probabilities and combinatorial optimization. This work presents a novel approach of the CE for optimization of a Soft-Computing controller. A Fuzzy controller was designed to command an unmanned aerial system (UAS) for avoiding collision task. The only sensor used to accomplish this task was a forward camera. The CE is used to reach a near-optimal controller by modifying the scaling factors of the controller inputs. The optimization was realized using the ROS-Gazebo simulation system. In order to evaluate the optimization a big amount of tests were carried out with a real quadcopter.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/56454/

Publicador

Springer Netherlands

Relação

http://eprints.qut.edu.au/56454/1/JINT-D-12-00225.pdf

DOI:10.1007/s10846-012-9791-5

Olivares-Mendez, Miguel A., Mejias, Luis, Campoy, Pascual, & Mellado-Bataller, Ignacio (2013) Cross-entropy optimization for scaling factors of a fuzzy controller : a see-and-avoid approach for unmanned aerial systems. Journal of Intelligent & Robotic Systems, 69(1-4), pp. 189-205.

Direitos

Copyright 2013 Springer Netherlands

Fonte

Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #090100 AEROSPACE ENGINEERING #090104 Aircraft Performance and Flight Control Systems #090602 Control Systems Robotics and Automation #UAV; UAS; Fuzzy logic; Fuzzy control; Cross-Entropy; Visual servoing; Computer vision; Sense and avoid; See and avoid; Optimization
Tipo

Journal Article