Hovering control of UAV based on autonomous mapping approach
文献类型：会议论文
| 作者 | Chen Y(陈洋); Zhao XG(赵新刚) ; Han JD(韩建达)
|
| 出版日期 | 2010 |
| 会议名称 | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 |
| 会议日期 | December 14-18, 2010 |
| 会议地点 | Tianjin, China |
| 关键词 | Biomimetics Computer simulation Helicopters Mapping Neural networks Robotics |
| 页码 | 1651-1655 |
| 中文摘要 | The autonomous learning capability of UAV (unmanned aerial vehicle) has gained more and more attentions of researchers. As far as helicopter steering is concerned, instead of calculating dynamics of UAV in a relative short interval, pilots just take their experience and consciousness instantaneously, known as similar status has similar action, to keep the helicopter hovering. The experience and the consciousness of pilots store the mapping from the similar environment to the corresponding similar decisions. Motivated by the process, we establish the UAV mapping base from environment to decision with IHDR (Incremental Hierarchical Discriminant Regression) algorithm. UAV learns to build the mapping relation offline and online alternatively. The retrieval process from the mapping base has higher efficiency for its less mathematics complexity. Simulation results show that the approach we proposed in this paper has better performance than traditional neural network. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology |
| 会议录 | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-9317-3 |
| 源URL | [http://ir.sia.cn/handle/173321/8731]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chen Y,Zhao XG,Han JD. Hovering control of UAV based on autonomous mapping approach[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China. December 14-18, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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