Experiments in Learning Helicopter Control from a Pilot

Buskey, Gregg, Roberts, Jonathan and Wyeth, Gordon (2006). Experiments in Learning Helicopter Control from a Pilot. In S. Yuta, H. Asama, S. Thrun, E. Prassler and T. Tsubouchi (Ed.), Field and Service Robotics (pp. 267-276) Berlin: Springer. doi:10.1007/10991459_26


Author Buskey, Gregg
Roberts, Jonathan
Wyeth, Gordon
Title of chapter Experiments in Learning Helicopter Control from a Pilot
Title of book Field and Service Robotics
Place of Publication Berlin
Publisher Springer
Publication Year 2006
Sub-type Other
DOI 10.1007/10991459_26
Open Access Status
Year available 2006
Series Springer Tracts in Advanced Robotics
ISBN 978-3-540-32801-8
Editor S. Yuta
H. Asama
S. Thrun
E. Prassler
T. Tsubouchi
Volume number 24
Chapter number 26
Start page 267
End page 276
Total pages 10
Language eng
Subjects 090602 Control Systems, Robotics and Automation
Abstract/Summary 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.
Q-Index Code BX
Q-Index Status Provisional Code
Institutional Status Unknown
Additional Notes Series ISSN: 1610-7438 (Print): 1610-742X (Online)

 
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Created: Thu, 26 Mar 2009, 00:54:26 EST by Mary-Anne Marrington on behalf of School of Information Technol and Elec Engineering