DocumentCode
2474529
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
fYear
2012
fDate
14-17 Oct. 2012
Firstpage
2796
Lastpage
2802
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICSMC.2012.6378172
Filename
6378172
Link To Document