Memorias de investigación
Communications at congresses:
UAS See-and-Avoid using two different approaches of Fuzzy Control
Year:2012

Research Areas
  • Diffuse control

Information
Abstract
The Cross-Entropy (CE) is an efficient method for the estimation of rare-event probabilities and combinatorial optimization. In this work is presented a novel approach of the CE for optimization of a Soft-Computing controller. A Fuzzy controller was design 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 modify the scaling factors of the controller inputs. The optimization was realized using the ROS-Gazebo simulation system. To evaluate the optimization a big amount of tests were done with a real quadcopter.
International
Si
Congress
International Conference on Unmanned Aircraft Systems (ICUAS'12)
960
Place
Philadelphia, PA, USA,
Reviewers
Si
ISBN/ISSN
CDP08UPM
Start Date
12/06/2012
End Date
15/06/2012
From page
0
To page
0
Proceedings on International Conference on Unmanned Aircraft Systems (ICUAS'12)
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