Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers
Year:2014
Research Areas
  • Fuzzy sets and logic,
  • Visual perception,
  • Electric engineers, electronic and automatic (eil),
  • Aerial robots,
  • Inspection robots,
  • Controller adjustments,
  • Perception,
  • Visual inspection,
  • Vision on real-time
Information
Abstract
In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied envrionments using Monocular Visual-Inertial SLAM-based strategy. The function of this FLC aims to control the heading of Fail-Safe UAV to avoid the obstacle, e.g. wall, bridge, tree line et al, using its real-time and accurate localization information. In the Matlab Simulink-based training framework, the Scaling Factor (SF) is adjusted according to the collision avoidance task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the control performances. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real see-and-avoid tests with a quadcopter have done. The simulation and experiment results show that this new proposed FLC can precisely navigates the Fail-Safe UAV to avoid the obstacle, obtaining better performances compared to only SF optimization-based FLC. To our best knowledge, this is the first work to present the optimized FLC using Cross-Entropy method in both SF and MF optimization, and apply it in the UAV.
International
Si
JCR
Si
Title
Journal of Intelligent & Robotic Systems
ISBN
0921-0296
Impact factor JCR
1,178
Impact info
Q3
Volume
73
10.1007/s10846-013-9918-3
Journal number
From page
513
To page
533
Month
ENERO
Ranking
Participants
  • Autor: Changhong Fu (UPM)
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Ramon Suarez Fernandez (Universidad Politecnica de Madrid)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
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Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
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