GONGORA, Mario A., PASSOW, Benjamin N. and HOPGOOD, Adrian A. (2009). Robustness analysis of evolutionary controller tuning using real systems. In: IEEE Congress on Evolutionary Computation 2009. IEEE, 606-613.
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A genetic algorithm (GA) presents an excellent method for controller parameter tuning. In our work, we evolved the heading as well as the altitude controller for a small lightweight helicopter. We use the real flying robot to evaluate the GA's individuals rather than an artificially consistent simulator. By doing so we avoid the ldquoreality gaprdquo, taking the controller from the simulator to the real world. In this paper we analyze the evolutionary aspects of this technique and discuss the issues that need to be considered for it to perform well and result in robust controllers.
|Item Type:||Book Section|
|Research Institute, Centre or Group:||Materials and Engineering Research Institute > Centre for Robotics and Automation > Mobile Machine and Vision Laboratory|
|Depositing User:||Adrian Hopgood|
|Date Deposited:||31 Aug 2012 14:27|
|Last Modified:||17 Sep 2012 15:20|
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