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