A Reinforcement Learning Approach to Lift Generation in Flapping MAVs: Experimental Results

ICRA（2007）

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摘要

We proposed an RL framework for control of flapping-wing MAVs (2006). The algorithm has been discussed and simulation results using a quasi-steady model showed initial promise. In this paper, the results from an experiment on a Drosophila-based dynamically scaled model are presented and are used to verify the control framework. Moreover, a comparison between a biological Drosophila melanogaster and the experimental results shows the actual possibility of employing the proposed approach to MAV control problem

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关键词

robot dynamics,quasisteady model,drosophila-based dynamically scaled model,flapping microaerial vehicles,reinforcement learning,learning (artificial intelligence),mobile robots,biological drosophila melanogaster,aerospace robotics,aerodynamics,microrobots,lift generation,prototypes,solid modeling,motion control,computational fluid dynamics,learning artificial intelligence

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