A cloned linguistic decision tree controller for real-time path planning in hostile environments

Oliver Turnbull, Jonathan Lawry, Mark Lowenberg, Arthur Richards
2016 Fuzzy sets and systems (Print)  
The idea of a Cloned Controller to approximate optimised control algorithms in a real-time environment is introduced. A Cloned Controller is demonstrated using Linguistic Decision Trees (LDTs) to clone a Model Predictive Controller (MPC) based on Mixed Integer Linear Programming (MILP) for Unmanned Aerial Vehicle (UAV) path planning through a hostile environment. Modifications to the LDT algorithm are proposed to account for attributes with circular domains, such as bearings, and discontinuous
more » ... utput functions. The cloned controller is shown to produce near optimal paths whilst significantly reducing the decision period. Further investigation shows that the cloned controller generalises to the multi-obstacle case although this can lead to situations far outside of the training dataset and consequently result in decisions with a high level of uncertainty. A modification to the algorithm to improve the performance in regions of high uncertainty is proposed and shown to further enhance generalisation. The resulting controller combines the high performance of MPC-MILP with the rapid response of an LDT while providing a degree of transparency/interpretability of the decision making.
doi:10.1016/j.fss.2015.08.017 fatcat:d54mn5rntrb65o3orzrom5hwli