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题名: Hovering control of UAV based on autonomous mapping approach
作者: Chen Y(陈洋) ; Zhao XG(赵新刚) ; Han JD(韩建达)
作者部门: 机器人学研究室
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
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
出版日期: 2010
页码: 1651-1655
收录类别: EI
ISBN号: 9781424493173
关键词: Biomimetics ; Computer simulation ; Helicopters ; Mapping ; Neural networks ; Robotics
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8731
Appears in Collections:机器人学研究室_会议论文

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