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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.
Title: | Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems |
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Author/s: |
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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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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.
Item ID: | 19070 |
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DC Identifier: | https://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-... |
Deposited by: | Memoria Investigacion |
Deposited on: | 02 Feb 2014 11:53 |
Last Modified: | 21 Apr 2016 17:19 |