Name
Title | ||
|---|---|---|
Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems |
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. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1007/s10846-012-9791-5 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
UAV,UAS,Fuzzy logic,Fuzzy control,Cross-Entropy,Visual servoing,Computer vision,Sense and avoid,See and avoid,Optimization | Cross entropy,Control theory,Control theory,Fuzzy logic,Quadcopter,Collision,Control engineering,Combinatorial optimization,Visual servoing,Fuzzy control system,Engineering | Journal |
Volume | Issue | ISSN |
69 | 1-4 | 0921-0296 |
Citations | PageRank | References |
6 | 0.48 | 16 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Miguel A. Olivares-Mendez | 1 | 89 | 8.97 |
| Luis Mejias | 2 | 143 | 15.42 |
| Pascual Campoy | 3 | 436 | 46.75 |
| Ignacio Mellado-Bataller | 4 | 21 | 2.96 |