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See-and-avoid quadcopter using fuzzy control optimized by cross-entropy
Cita
Olivares Méndez, Miguel Ángel, Campoy Cervera, Pascual 
ORCID: https://orcid.org/0000-0002-9894-2009, Mellado Bataller, Ignacio and Mejias Alvarez, Luis
(2012).
See-and-avoid quadcopter using fuzzy control optimized by cross-entropy.
En: "IEEE World Congress on Computational Intelligence (WCCI 2012)", 10/06/2012 - 15/06/2012, Brisbane, Australia. pp..
ORCID: https://orcid.org/0000-0002-9894-2009, Mellado Bataller, Ignacio and Mejias Alvarez, Luis
(2012).
See-and-avoid quadcopter using fuzzy control optimized by cross-entropy.
En: "IEEE World Congress on Computational Intelligence (WCCI 2012)", 10/06/2012 - 15/06/2012, Brisbane, Australia. pp..
Descripción
| Título: | See-and-avoid quadcopter using fuzzy control optimized by cross-entropy |
|---|---|
| Autor/es: |
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| Tipo de Documento: | Ponencia en Congreso o Jornada (Artículo) |
| Título del Evento: | IEEE World Congress on Computational Intelligence (WCCI 2012) |
| Fechas del Evento: | 10/06/2012 - 15/06/2012 |
| Lugar del Evento: | Brisbane, Australia |
| Título del Libro: | IEEE World Congress on Computational Intelligence (WCCI 2012) |
| Fecha: | 2012 |
| Materias: | |
| ODS: | |
| 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
In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.
Proyectos asociados
Tipo
Código
Acrónimo
Responsable
Título
FP7
230797
ICPUAS
Sin especificar
International Cooperation Program for Unmanned Aerial Systems (UAS) Research and Development
Más información
| ID de Registro: | 19383 |
|---|---|
| Identificador DC: | https://oa.upm.es/19383/ |
| Identificador OAI: | oai:oa.upm.es:19383 |
| URL Oficial: | http://ieeexplore.ieee.org/xpl/abstractKeywords.js... |
| Depositado por: | Memoria Investigacion |
| Depositado el: | 26 Ene 2014 13:08 |
| Ultima Modificación: | 07 Nov 2014 11:04 |
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