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Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual and Mellado Bataller, Ignacio and Mejias Alvarez, Luis (2012). See-and-avoid quadcopter using fuzzy control optimized by cross-entropy. In: "IEEE World Congress on Computational Intelligence (WCCI 2012)", 10/06/2012 - 15/06/2012, Brisbane, Australia. pp..
Title: | See-and-avoid quadcopter using fuzzy control optimized by cross-entropy |
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Author/s: |
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Item Type: | Presentation at Congress or Conference (Article) |
Event Title: | IEEE World Congress on Computational Intelligence (WCCI 2012) |
Event Dates: | 10/06/2012 - 15/06/2012 |
Event Location: | Brisbane, Australia |
Title of Book: | IEEE World Congress on Computational Intelligence (WCCI 2012) |
Date: | 2012 |
Subjects: | |
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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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.
Item ID: | 19383 |
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DC Identifier: | https://oa.upm.es/19383/ |
OAI Identifier: | oai:oa.upm.es:19383 |
Official URL: | http://ieeexplore.ieee.org/xpl/abstractKeywords.js... |
Deposited by: | Memoria Investigacion |
Deposited on: | 26 Jan 2014 13:08 |
Last Modified: | 07 Nov 2014 11:04 |