Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems

Authors:
Miguel A. Olivares-Mendez;Luis Mejias;Pascual Campoy;Ignacio Mellado-Bataller
Affiliations:
CAR - Centro de Automática y Robótica, Universidad Politécnica de Madrid, Madrid, Spain;Australian Research Centre for Aerospace Automation (ARCAA), Queensland University of Technology, Brisbane, Australia 4001;CAR - Centro de Automática y Robótica, Universidad Politécnica de Madrid, Madrid, Spain;CAR - Centro de Automática y Robótica, Universidad Politécnica de Madrid, Madrid, Spain
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

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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.