Memorias de investigación
Research Publications in journals:
Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems
Year:2012
Research Areas
  • Control
Information
Abstract
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.
International
Si
JCR
Si
Title
Journal of Intelligent & Robotic Systems
ISBN
0921-0296
Impact factor JCR
0,829
Impact info
Volume
Journal number
From page
189
To page
205
Month
NOVIEMBRE
Ranking
Participants
  • Autor: Miguel Ángel Olivares Mendez UPM
  • Autor: Pascual Campoy Cervera UPM
  • Autor: Ignacio Mellado Bataller UPM
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial