Observatorio de I+D+i UPM

Memorias de investigación
Artículos en revistas:
Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers
Año:2014
Áreas de investigación
  • Conjuntos fuzzy y lógica,
  • Percepción visual,
  • Ingeniería eléctrica, electrónica y automática,
  • Robots aéreos,
  • Robots de inspección,
  • Ajuste de controladores,
  • Percepción,
  • Inspección visual,
  • Visión en tiempo-real
Datos
Descripción
In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied envrionments using Monocular Visual-Inertial SLAM-based strategy. The function of this FLC aims to control the heading of Fail-Safe UAV to avoid the obstacle, e.g. wall, bridge, tree line et al, using its real-time and accurate localization information. In the Matlab Simulink-based training framework, the Scaling Factor (SF) is adjusted according to the collision avoidance task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the control performances. 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 see-and-avoid tests with a quadcopter have done. The simulation and experiment results show that this new proposed FLC can precisely navigates the Fail-Safe UAV to avoid the obstacle, obtaining better performances compared to only SF optimization-based FLC. To our best knowledge, this is the first work to present the optimized FLC using Cross-Entropy method in both SF and MF optimization, and apply it in the UAV.
Internacional
Si
JCR del ISI
Si
Título de la revista
Journal of Intelligent & Robotic Systems
ISSN
0921-0296
Factor de impacto JCR
1,178
Información de impacto
Q3
Volumen
73
DOI
10.1007/s10846-013-9918-3
Número de revista
Desde la página
513
Hasta la página
533
Mes
ENERO
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Changhong Fu (UPM)
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Ramon Suarez Fernandez (Universidad Politecnica de Madrid)
  • Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)