Title :
An experimental validation of reinforcement learning applied to the position control of UAVs
Author :
Santos, Sérgio Ronaldo Barros dos ; Givigi, Sidney N., Jr. ; Júnior, Cairo Lúcio Nascimento
Author_Institution :
Div. of Electron. Eng., Inst. Tecnol. de Aeronaut., São José dos Campos, Brazil
Abstract :
In this paper, we explore the application of Reinforcement Learning (RL) to the derivation of control laws for the flight control of an unmanned aerial vehicle (UAV). The controllers are derived off-line with a simulation and the solutions are ported to an actual aircraft. Experimental results showed that the controllers stabilize the quad-rotor during the path tracking as has been learned in the simulation.
Keywords :
aircraft control; autonomous aerial vehicles; learning systems; position control; RL; UAV; aircraft; flight control; path tracking; position control; quad-rotor; reinforcement learning; unmanned aerial vehicle; Aerodynamics; Atmospheric modeling; Attitude control; Computational modeling; Learning; Learning automata; Vectors; Reinforcement Learning; Unmanned Air Vehicles;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2012 IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4673-1713-9
Electronic_ISBN :
978-1-4673-1712-2
DOI :
10.1109/ICSMC.2012.6378172
