A helicopter named Dolly : behavioural cloning for autonomous helicopter control
Buskey, Gregg, Roberts, Jonathan, & Wyeth, Gordon (2003) A helicopter named Dolly : behavioural cloning for autonomous helicopter control. In Roberts, Jonathan & Wyeth, Gordon (Eds.) Proceedings of the 2003 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc, Brisbane, Queensland.
This paper considers the pros and cons of using Behavioural cloning for the development of low-level helicopter automation modules. Over the course of this project several Behavioural cloning approaches have been investigated. The results of the most effective Behavioural cloning approach are then compared to PID modules designed for the same aircraft. The comparison takes into consideration development time, reliability, and control performance. It has been found that Behavioural cloning techniques employing local approximators and a wide state-space coverage during training can produce stabilising control modules in less time than tuning PID controllers. However, performance and reliabity deficits have been found to exist with the Behavioural Cloning, attributable largely to the time variant nature of the dynamics due to the operating environment, and the pilot actions being poor for teaching. The final conclusion drawn here is that tuning PID modules remains superior to behavioural cloning for low-level helicopter automation.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2003 [please consult the authors]|
|Deposited On:||23 Jun 2010 09:06|
|Last Modified:||11 Aug 2011 03:06|
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