Thể loại:

Others

Từ khóa:

AI, algorithm, artificial, computational, computer, control, engineering, GA, genetic, helicopter, intelligence, PID, robot, science

Mô tả:

The PID controller of an autonomous helicopter robot is evolved using a genetic algorithm and the fitness is evaluated on the robot itself. Over 30 generations, the control parameters of a PID heading controller of a small indoor helicopter evolve towards more suitable and robust solutions. To evaluate the fitness of each individual, its control parameters are used on the actual flying robot. The helicopter is artificially perturbed by 90° and -90° and the controllers ability to reach and keep the setpoint at 0° determines the fitness. For more information please read the full paper: B.N.Passow, M.A.Gongora, S.Coupland, A.A.Hopgood, Real-time Evolution of an Embedded Controller for an Autonomous Helicopter, Proc. of the IEEE Congress on Evolutionary Computation, WCCI''08, Hong Kong, 2008 A pre-print version is available here: http://www.cci.dmu.ac.uk/preprintPDF/MarioWCCI2008_CEC.pdf Done at the Centre for Computational Intelligence, De Montfort University, Leicester, UK: http://www.cci.dmu.ac.uk This research is sponsored by and done in cooperation with the IOCT, Institute of Creative Technologies: http://www.ioct.dmu.ac.uk