[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

A Distributed Control Group of Mobile Robots
in a Limited Area with a Vision System
Artur Babiarz, Robert Bieda, and Krzysztof Jaskot
Abstract. Digital remote manual control systems are no less complicated than
automatic control. Engineers have to overcome number of unique problems. Mechanical
parts have to respond to digital signals transferred through wireless connection.
Digital control algorithms have to correctly translate the movement of
controls at remote station to signals in a way that a operator has a proper feeling of
control. The Master Control System presented connects the features of a Drive-
By-Wire control system with wireless connection. Main focus is put on the Master
controller and its algorithms of input - output translation, that give finer control for
an operator. In addition, computer controlled intervention algorithms are proposed
that can increase safety of the subject vehicle. All that is done on basis of a small
two-wheeled robot and a closed environment of small playground with radio interface
allowing wireless connection with the robot, and a vision interface equipped
with a camera serving as a visual feedback. Is it a great environment for theoretical
considerations, testing and implementation. Modular design of the environment
additionally allows the control of whole Mobile Robot Group, not only one
robot subject. Moreover sented results can be applied more widely in controllers
for cars or other wheeled or tracked vehicles.
1 Introduction
When we think about manual control we often think about things we need to do by
hand in our everyday life. Although there are more complicated systems we use,
like riding a bicycle or driving a car. Some of us has learned skill to operate those
vehicles. After gaining proficiency in such a skill, it is natural for us, we do it
Artur Babiarz ⋅ Robert Bieda ⋅ Krzysztof Jaskot
Silesian University of Technology, Institute of Automatic Control,
Akademicka 16, 44-101 Gliwice, Poland
e-mail: {artur.babiarz,krzysztof.jaskot,robert.bieda}@polsl.pl
A. Nawrat and Z. Kuś (Eds.): Vision Based Systems for UAV Applications, SCI 481, pp. 157–175.
DOI: 10.1007/978-3-319-00369-6_10 © Springer International Publishing Switzerland 2013