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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. 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. | |
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Internacional
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Si |
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Nombre congreso
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International Conference on Unmanned Aircraft Systems (ICUAS'12) |
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Tipo de participación
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960 |
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Lugar del congreso
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Philadelphia, PA, USA, |
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Revisores
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Si |
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ISBN o ISSN
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CDP08UPM |
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DOI
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Fecha inicio congreso
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12/06/2012 |
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Fecha fin congreso
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15/06/2012 |
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Desde la página
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0 |
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Hasta la página
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0 |
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Título de las actas
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Proceedings on International Conference on Unmanned Aircraft Systems (ICUAS'12) |