OPTIMISING A FLYING ROBOT - Controller Optimisation using a Genetic Algorithm on a Real-World Robot

Benjamin N. Passow, Mario Gongora

2008

Abstract

This work presents the optimisation of the heading controller of a small flying robot. A genetic algorithm (GA) has been used to tune the proportional, integral, and derivative (PID) parameters of the helicopter’s controller. Instead of evaluating each individual’s fitness in an artificial simulation, the actual flying robot has been used. The performance of a hand-tuned PID controller is compared to the GA-tuned controller. Tests on the helicopter confirm that the GA’s solutions result in a better controller performance. Further more, results suggest that evaluating the GA’s individuals on the real flying robot increases the controller’s robustness.

Paper Citation

in Harvard Style

N. Passow B. and Gongora M. (2008). OPTIMISING A FLYING ROBOT - Controller Optimisation using a Genetic Algorithm on a Real-World Robot . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 151-156. DOI: 10.5220/0001496901510156

in Bibtex Style

@conference{icinco08,
author={Benjamin N. Passow and Mario Gongora},
title={OPTIMISING A FLYING ROBOT - Controller Optimisation using a Genetic Algorithm on a Real-World Robot},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={151-156},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001496901510156},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - OPTIMISING A FLYING ROBOT - Controller Optimisation using a Genetic Algorithm on a Real-World Robot
SN - 978-989-8111-31-9
AU - N. Passow B.
AU - Gongora M.
PY - 2008
SP - 151
EP - 156
DO - 10.5220/0001496901510156