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UAS see-and-avoid strategy using a fuzzy logic controller optimized by Cross-Entropy in Scaling Factors and Membership Functions
Fu, Changhong; Olivares Mendez, Miguel Angel; Campoy, P. et al.
2013In Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
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Keywords :
unmanned aerial vehicles; Obstacle avoidance; Fuzzy logic
Abstract :
[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.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
Fu, Changhong
Olivares Mendez, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Campoy, P.
Suarez-Fernandez, R.
Language :
English
Title :
UAS see-and-avoid strategy using a fuzzy logic controller optimized by Cross-Entropy in Scaling Factors and Membership Functions
Publication date :
2013
Event name :
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Event place :
United States
Event date :
28-31 May 2013
Audience :
International
Main work title :
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Peer reviewed :
Peer reviewed
Commentary :
532-541
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since 06 November 2013

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