Real-time evolution of an embedded controller for an autonomous helicopter

PASSOW, Benjamin N., GONGORA, Mario, COUPLAND, Simon and HOPGOOD, Adrian A. (2008). Real-time evolution of an embedded controller for an autonomous helicopter. In: IEEE Congress on Evolutionary Computation (IEEE World Congress on Computational Intelligence) 2008. IEEE, 2538-2545.

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Official URL: http://dx.doi.org/10.1109/CEC.2008.4631139
Link to published version:: 10.1109/CEC.2008.4631139

Abstract

In this paper we evolve the parameters of a proportional, integral, and derivative (PID) controller for an unstable, complex and nonlinear system. The individuals of the applied genetic algorithm (GA) are evaluated on the actual system rather than on a simulation of it, thus avoiding the ldquoreality gaprdquo. This makes implicit a formal model identification for the implementation of a simulator. This also calls for the GA to be approached in an unusual way, where we need to consider new aspects not normally present in the usual situations using an unnaturally consistent simulator for fitness evaluation. Although elitism is used in the GAs, no monotonic increase in fitness is exhibited by the algorithm. Instead, we show that the GApsilas individuals converge towards more robust solutions.

Item Type: Book Section
Research Institute, Centre or Group: Materials and Engineering Research Institute > Centre for Automation and Robotics Research > Mobile Machine and Vision Laboratory
Identification Number: 10.1109/CEC.2008.4631139
Depositing User: Adrian Hopgood
Date Deposited: 31 Aug 2012 13:56
Last Modified: 21 Aug 2015 17:16
URI: http://shura.shu.ac.uk/id/eprint/5639

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