Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
See-and-avoid quadcopter using fuzzy control optimized by cross-entropy?
Year:2012
Research Areas
  • Navigation,
  • Aerial robots,
  • Diffuse control,
  • Learning,
  • Intelligent control,
  • Visual control,
  • Robots vision
Information
Abstract
Abstract?In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.
International
Si
Congress
IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)
960
Place
Brisbane
Reviewers
Si
ISBN/ISSN
1098-7584
Start Date
10/06/2012
End Date
15/06/2012
From page
To page
10.1109/FUZZ-IEEE.2012.6251179
Participants
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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