Acquisition of multi-copter flight behavior using evolutionary learning-

Abstract

Multi-copter is required to move ascending flight, descending flight and hovering flight with adequate controlled behavior in the air environment. This study aims at acquiring autonomous behavior for such a multi-copter by physically modeled simulation. This multi-copter is modeled by use of the physical engine (PhysX) in a virtual environment. We use neuro-evolution to have the multi-copter acquire autonomous behavior. Namely the multi- copter behavior is controlled by an artificial neural network (ANN), The ANN is evolved to let it learn proper behavior by evolutionary computation (GA). Simulation results verify that the multi-copter can acquire autonomous behaviors.