Online learning of autonomous helicopter control
Buskey, Gregg, Roberts, Jonathan M., & Wyeth, Gordon (2002) Online learning of autonomous helicopter control. In Friedrich, W. (Ed.) Proceedings of the 2002 Australasian Conference on Robotics and Automation (ACRA 2002), Australian Robotics Automation Association, Auckland, New Zealand, pp. 21-27.
This paper details the development of an online adaptive control system, designed to learn from the actions of an instructing pilot. Three learning architectures, single layer neural networks (SLNN), multi-layer neural networks (MLNN), and fuzzy associative memories (FAM) are considerd. Each method has been tested in simulation. While the SLNN and MLNN provided adequate control under some simulation conditions, the addition of pilot noise and pilot variation during simulation training caused these methods to fail.
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|Item Type:||Conference Paper|
|Additional Information:||[Pre-QUT publication]|
|Keywords:||Adaptive control system, SLNN, MLNN, FAM|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2002 Australian Robotics Automation Association|
|Deposited On:||14 Apr 2015 00:48|
|Last Modified:||14 Apr 2015 00:48|
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