Memorias de investigación
Communications at congresses:
See-and-avoid quadcopter using fuzzy control optimized by cross-entropy
Year:2012
Research Areas
  • Robotics,
  • Perception
Information
Abstract
In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.
International
Si
Congress
WCCI 2012 IEEE World Congress on Computational Intelligence
960
Place
Brisbane, Australia
Reviewers
Si
ISBN/ISSN
CDP08UPM
Start Date
10/06/2012
End Date
15/06/2012
From page
0
To page
0
Proceedings on on Computational Intelligence WCCI 2012 IEEE World Congress
Participants
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