UAV heading controller using reinforcement learning

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dc.contributor.authorKimathi, Stephen
dc.contributor.authorKang’ethe, Samuel
dc.contributor.authorKihato, Peter
dc.date.accessioned2017-07-21T13:29:16Z
dc.date.available2017-07-21T13:29:16Z
dc.date.issued2017
dc.descriptionThe conference aimed at supporting and stimulating active productive research set to strengthen the technical foundations of engineers and scientists in the continent, through developing strong technical foundations and skills, leading to new small to medium enterprises within the African sub-continent. It also seeked to encourage the emergence of functionally skilled technocrats within the continent.en_US
dc.description.abstractThe control of heading of an Unmanned Aerial Vehicle is a vital operation. It is accomplished by employing a design of control algorithms that control its flying direction. The available autopilots exploit Proportional-Integral-Derivative (PID) based heading controllers. Here we propose an adaptive controller based on reinforcement learning. The heading controller will be designed in Matlab/Simulink for controlling a UAV in X-Plane test platform. Through this platform, the performance of the designed controller is compared with that of a well-tuned PID controller using real time simulations. The results show that the proposed method performs better.en_US
dc.description.sponsorshipStrathmore University; Institute of Electrical and Electronics Engineers (IEEE)en_US
dc.identifier.citationKimathi, S., Kang’ethe, S., & Kihato, P. (2017). UAV heading controller using reinforcement learning. In Pan African Conference on Science, Computing and Telecommunications (PACT). Nairobi: Strathmore University. Retrieved from https://su-plus.strathmore.eduen_US
dc.identifier.urihttp://hdl.handle.net/11071/5187
dc.language.isoenen_US
dc.publisherStrathmore Universityen_US
dc.subjectUAVen_US
dc.subjectReinforcement Learningen_US
dc.subjectPIDen_US
dc.subjectX-Planeen_US
dc.titleUAV heading controller using reinforcement learningen_US
dc.typeConference paperen_US
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Pan African Conference on Science, Computing and Telecommunications (PACT) 2017