Name
Title | ||
|---|---|---|
Using the Cross-Entropy method for control optimization: A case study of see-and-avoid on unmanned aerial vehicles |
Abstract | ||
|---|---|---|
This paper presents an adaptation of the Cross-Entropy (CE) method to optimize fuzzy logic controllers. The CE is a recently developed optimization method based on a general Monte-Carlo approach to combinatorial and continuous multi-extremal optimization and importance sampling. This work shows the application of this optimization method to optimize the inputs gains, the location and size of the different membership functions' sets of each variable, as well as the weight of each rule from the rule's base of a fuzzy logic controller (FLC). The control system approach presented in this work was designed to command the orientation of an unmanned aerial vehicle (UAV) to modify its trajectory for avoiding collisions. An onboard looking forward camera was used to sense the environment of the UAV. The information extracted by the image processing algorithm is the only input of the fuzzy control approach to avoid the collision with a predefined object. Real tests with a quadrotor have been done to corroborate the improved behavior of the optimized controllers at different stages of the optimization process. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/MED.2014.6961536 | Control and Automation |
Keywords | DocType | ISSN |
autonomous aerial vehicles,collision avoidance,combinatorial mathematics,fuzzy control,importance sampling,optimisation,ce method,flc,uav,combinatorial optimization,continuous multiextremal optimization,control optimization,control system approach,cross-entropy method,fuzzy control approach,fuzzy logic controller,general monte-carlo approach,image processing algorithm,membership function sets,optimization method,optimization process,quadrotor,unmanned aerial vehicles,control systems,optimization,cross entropy,probability density function,cross entropy method,process control | Conference | 2325-369X |
Citations | PageRank | References |
1 | 0.37 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| miguel a olivaresmendez | 1 | 1 | 0.37 |
| chuancheng fu | 2 | 1 | 0.37 |
| s kannan | 3 | 1 | 0.37 |
| Holger Voos | 4 | 118 | 34.98 |
| Pascual Campoy | 5 | 436 | 46.75 |