Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Using the Cross-Entropy method for control optimization: A case study of see-and-avoid on unmanned aerial vehicles
Year:2014
Research Areas
  • Visual perception,
  • Aerial robots,
  • Autonomic robots,
  • Inspection robots,
  • Controller adjustments,
  • Perception,
  • Visual control,
  • Visual inspection
Information
Abstract
This paper presents an adaptation of the Cross-Entropy (CE) method to optimize fuzzy logic controllers. The CE is a recently developed optimization method based on a general Monte-Carlo approach to combinatorial and continuous multi-extremal optimization and importance sampling. This work shows the application of this optimization method to optimize the inputs gains, the location and size of the different membership functions' sets of each variable, as well as the weight of each rule from the rule's base of a fuzzy logic controller (FLC). The control system approach presented in this work was designed to command the orientation of an unmanned aerial vehicle (UAV) to modify its trajectory for avoiding collisions. An onboard looking forward camera was used to sense the environment of the UAV. The information extracted by the image processing algorithm is the only input of the fuzzy control approach to avoid the collision with a predefined object. Real tests with a quadrotor have been done to corroborate the improved behavior of the optimized controllers at different stages of the optimization process.
International
Si
Congress
Mediterranean Conference of Control and Automation (MED)
960
Place
Palermo, Italy
Reviewers
Si
ISBN/ISSN
978-1-4799-5900-6
10.1109/MED.2014.6961536
Start Date
16/06/2014
End Date
19/06/2014
From page
1183
To page
1189
Using the Cross-Entropy method for control optimization: A case study of see-and-avoid on unmanned aerial vehicles
Participants
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Changhong Fu (UPM)
  • Autor: Somasundar Kannan (University of Luxembourg)
  • Autor: Holger Voos (University of Luxembourg)
  • 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
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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