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:2013

Research Areas
  • Computer vision

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
69
10.1007/s10846-012-9791-5
Journal number
1-4
From page
189
To page
205
Month
SIN MES
Ranking
0
Participants
  • Autor: Miguel Ángel Olivares Mendez UPM
  • Autor: luis mejias
  • 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