Aggressive Manuevering of Unmanned Helicopters: Learning from Human Based on Neural Networks

作者：Song, Dalei^*; Wu, Chong; Qi, Juntong; Han, Jianda

来源：12th International Conference of Intelligent Autonomous Systems, Jeju, SOUTH KOREA, 2012-06-26 To 2012-06-29.

• neural network
• unmanned helicopter
• learning
• flight test

"Teaching by Showing" control of a small helicopter's aggressive maneuvering often needs inner aided controllers based on helicopter's dynamics, which is very complex to identify. In this paper, a neural network based control is proposed, based on the identification of the relationship between the pilot's control and flight states, and it is a model-free control method. Flight test is done in simulation environment based on real flight data. The results show the effectiveness of the neural network based controller for aggressive flight control.

• 出版日期2013
• 单位机器人学国家重点实验室; 中国科学院; 中国科学院沈阳自动化研究所