Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems

Olivares Méndez, Miguel Ángel and Mejias Alvarez, Luis and Campoy Cervera, Pascual 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.

Description

Title: Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems
Author/s:
  • Olivares Méndez, Miguel Ángel
  • Mejias Alvarez, Luis
  • Campoy Cervera, Pascual
  • Mellado Bataller, Ignacio
Item Type: Article
Título de Revista/Publicación: Journal of Intelligent & Robotic Systems
Date: January 2013
ISSN: 0921-0296
Volume: 69
Subjects:
Freetext Keywords: UAV, UAS, Fuzzy logic, Fuzzy control, Cross-Entropy, Visual servoing, Computer vision, Sense and avoid, See and avoid, Optimization
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

More information

Item ID: 19070
DC Identifier: http://oa.upm.es/19070/
OAI Identifier: oai:oa.upm.es:19070
DOI: 10.1007/s10846-012-9791-5
Official URL: http://link.springer.com/article/10.1007%2Fs10846-012-9791-5
Deposited by: Memoria Investigacion
Deposited on: 02 Feb 2014 11:53
Last Modified: 21 Apr 2016 17:19
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