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Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems
Cita
Olivares Méndez, Miguel Ángel, Mejias Alvarez, Luis, Campoy Cervera, Pascual 
ORCID: https://orcid.org/0000-0002-9894-2009 and Mellado Bataller, Ignacio
(2013).
Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems.
"Journal of Intelligent & Robotic Systems", v. 69
(n. 1-4);
pp. 189-205.
ISSN 0921-0296.
https://doi.org/10.1007/s10846-012-9791-5.
ORCID: https://orcid.org/0000-0002-9894-2009 and Mellado Bataller, Ignacio
(2013).
Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems.
"Journal of Intelligent & Robotic Systems", v. 69
(n. 1-4);
pp. 189-205.
ISSN 0921-0296.
https://doi.org/10.1007/s10846-012-9791-5.
Descripción
| Título: | Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems |
|---|---|
| Autor/es: |
|
| Tipo de Documento: | Artículo |
| Título de Revista/Publicación: | Journal of Intelligent & Robotic Systems |
| Fecha: | Enero 2013 |
| ISSN: | 0921-0296 |
| Volumen: | 69 |
| Número: | 1-4 |
| Materias: | |
| ODS: | |
| Palabras Clave Informales: | UAV, UAS, Fuzzy logic, Fuzzy control, Cross-Entropy, Visual servoing, Computer vision, Sense and avoid, See and avoid, Optimization |
| Escuela: | E.T.S.I. Industriales (UPM) |
| Departamento: | Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014] |
| Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
Resumen
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.
Más información
| ID de Registro: | 19070 |
|---|---|
| Identificador DC: | https://oa.upm.es/19070/ |
| Identificador OAI: | oai:oa.upm.es:19070 |
| URL Portal Científico: | https://portalcientifico.upm.es/es/ipublic/item/5488155 |
| Identificador DOI: | 10.1007/s10846-012-9791-5 |
| URL Oficial: | http://link.springer.com/article/10.1007%2Fs10846-... |
| Depositado por: | Memoria Investigacion |
| Depositado el: | 02 Feb 2014 11:53 |
| Ultima Modificación: | 12 Nov 2025 00:00 |
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