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Erschienen in:
2006 | OriginalPaper | Buchkapitel
Experiments in Learning Helicopter Control from a Pilot
verfasst von : Gregg Buskey, Jonathan Roberts, Gordon Wyeth
Erschienen in: Field and Service Robotics
Verlag: Springer Berlin Heidelberg
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This paper details the development of a machine learning system which uses the helicopter state and the actions of an instructing pilot to synthesise helicopter control modules online. Aggressive destabilisation/restabilisation sequences are used for training, such that a wide state-space envelope is covered during training. The performance of heading, roll, pitch, height and lateral velocity control learning is presented using our Xcell 60 experimental platform. The helicopter is demonstrated to be stabilised on all axes using the “learning from a pilot” technique. To our knowledge, this is the first time a “learning from a pilot” technique has been successfully applied to all axes.