Reference : UAS see-and-avoid strategy using a fuzzy logic controller optimized by Cross-Entropy ...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
http://hdl.handle.net/10993/9949
UAS see-and-avoid strategy using a fuzzy logic controller optimized by Cross-Entropy in Scaling Factors and Membership Functions
English
Fu, Changhong [> >]
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Campoy, P. [> >]
Suarez-Fernandez, R. [> >]
2013
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Yes
International
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
28-31 May 2013
USA
[en] unmanned aerial vehicles ; Obstacle avoidance ; Fuzzy logic
[en] This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand-avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.
http://hdl.handle.net/10993/9949
532-541

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