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Memorias de investigación
Ponencias en congresos:
UAS See-and-Avoid Strategy using a Fuzzy Logic Controller Optimized by Cross-Entropy in Scaling Factors and Membership Functions
Año:2013
Áreas de investigación
  • Automática
Datos
Descripción
This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand- avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.
Internacional
Si
Nombre congreso
International Conference on Unmanned Aircraft Systems (ICUAS)
Tipo de participación
960
Lugar del congreso
Atlanta, GA
Revisores
Si
ISBN o ISSN
978-1-4799-0817-2
DOI
Fecha inicio congreso
28/05/2013
Fecha fin congreso
31/05/2013
Desde la página
532
Hasta la página
541
Título de las actas
2013 International Conference on Unmanned Aircraft Systems (ICUAS)
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Fu Changhong . (UPM)
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Computer Vision
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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