Artículos en revistas:
Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems
Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems
Año:2012
Áreas de investigación
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Control
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Descripción
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| 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. | |
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Internacional
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JCR del ISI
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Título de la revista
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Journal of Intelligent & Robotic Systems |
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ISSN
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0921-0296 |
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Factor de impacto JCR
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0,829 |
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Información de impacto
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Volumen
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DOI
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Número de revista
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Desde la página
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189 |
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Hasta la página
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205 |
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Mes
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NOVIEMBRE |
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Ranking
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Ver publicación en Archivo digital upm
Participantes
- Autor: Miguel Ángel Olivares Mendez (UPM)
- Autor: Pascual Campoy Cervera (UPM)
- Autor: Ignacio Mellado Bataller (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
- 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
S2i 2023 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)