Managing uncertainty in sound based control for an autonomous helicopter

PASSOW, Benjamin N., GONGORA, Mario A., SMITH, Sophy and HOPGOOD, Adrian A. (2009). Managing uncertainty in sound based control for an autonomous helicopter. In: IEEE Workshop on computational intelligence in vehicles and vehicular systems, 2009. CIVVS '09. , IEEE Xplore, 80-86.

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    Official URL: http://dx.doi.org/10.1109/CIVVS.2009.4938727
    Link to published version:: 10.1109/CIVVS.2009.4938727

    Abstract

    In this paper we present our ongoing research using a multi-purpose, small and low cost autonomous helicopter platform (Flyper ). We are building on previously achieved stable control using evolutionary tuning. We propose a sound based supervised method to localise the indoor helicopter and extract meaningful information to enable the helicopter to further stabilise its flight and correct its flightpath. Due to the high amount of uncertainty in the data, we propose the use of fuzzy logic in the signal processing of the sound signature. We discuss the benefits and difficulties using type-1 and type-2 fuzzy logic in this real-time systems and give an overview of our proposed system.

    Item Type: Book Section
    Research Institute, Centre or Group: Materials and Engineering Research Institute > Centre for Robotics and Automation > Mobile Machine and Vision Laboratory
    Identification Number: 10.1109/CIVVS.2009.4938727
    Depositing User: Adrian Hopgood
    Date Deposited: 31 Aug 2012 15:13
    Last Modified: 17 Sep 2012 15:19
    URI: http://shura.shu.ac.uk/id/eprint/5642

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