Design of a bio-inspired controller for dynamic soaring in a simulated unmanned aerial vehicle.
This paper is inspired by the way birds such as albatrosses are able to exploit wind gradients at the surface of the ocean for staying aloft for very long periods while minimizing their energy expenditure. The corresponding behaviour has been partially reproduced here via a set of Takagi-Sugeno-Kang fuzzy rules controlling a simulated glider. First, the rules were hand-designed. Then, they were optimized with an evolutionary algorithm that improved their efficiency at coping with challenging conditions. Finally, the robustness properties of the controller generated were assessed with a view to its applicability to a real platform.
Barate
Renaud
R
Université Pierre et Marie Curie-Paris 6, UMR 7606, AnimatLab/LIP6, Paris, France. Renaud.Barate@ensta.fr
Doncieux
Stéphane
S
Meyer
Jean-Arcady
JA
D000401:Aircraft / Q000295:instrumentation*; D000465:Algorithms; D001185:Artificial Intelligence; D040761:Biomimetic Materials; D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D005426:Flight, Animal / Q000502:physiology*; D017143:Fuzzy Logic; D008962:Models, Theoretical