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Memorias de investigación
Ponencias en congresos:
Using the Cross-Entropy method for control optimization: A case study of see-and-avoid on unmanned aerial vehicles
Año:2014
Áreas de investigación
  • Percepción visual,
  • Robots aéreos,
  • Robots autónomos,
  • Robots de inspección,
  • Ajuste de controladores,
  • Percepción,
  • Control visual,
  • Inspección visual
Datos
Descripción
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.
Internacional
Si
Nombre congreso
Mediterranean Conference of Control and Automation (MED)
Tipo de participación
960
Lugar del congreso
Palermo, Italy
Revisores
Si
ISBN o ISSN
978-1-4799-5900-6
DOI
10.1109/MED.2014.6961536
Fecha inicio congreso
16/06/2014
Fecha fin congreso
19/06/2014
Desde la página
1183
Hasta la página
1189
Título de las actas
Using the Cross-Entropy method for control optimization: A case study of see-and-avoid on unmanned aerial vehicles
Esta actividad pertenece a memorias de investigación
Participantes
  • 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)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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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