[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

158 A. Babiarz, R. Bieda, and K. Jaskot
automatically because we have the feeling of controls. Such manual control is a
mechanical one. It utilizes a collection of mechanical parts, such as rods or tension
cables. Steering wheel in a car directly changes the orientation of wheels, change
of gear at the car’s gearbox directly changes used gear, etc. This is the most basic
method of control, widely used in vehicles around the world, as it successfully
accomplishes its goal.
As more complicated vehicles and planes were built, and as rapid growth of
technology has allowed, more of the intelligent operations had relied on electronic
devices. It has become possible to apply machine intelligence to control. That idea
was mainly utilized in flight control, as it has always been a very complicated
problem, consisting of vast number of variables [1, 2, 3]. Vision systems are used
mainly in mobile robotics for determining the position robot. A very simple way
to generate a path with the vision presented in [16]. This method is called funnel
lane. The coordinates of feature points during the replay phase are compared with
those obtained during the teaching phase in order to determine the turning direction.
Another problem is the determination of the actual speed of the mobile robot.
The authors [14] propose the use of a Kalman filter (KF)-integrated optical flow
method to measure the velocity of mobile robots using a downward-looking camera.
In [9] the authors present a group of robot motion planning using distributed
control and vision system. The control laws are distributed in the sense that they
require information only from neighboring robots. Examples of the application of
the vision for mobile robot control in a limited area can be found in [6, 11]. The
use of vision and Q-learning controller to robust grasping by wheeled mobile robots
was presented in [15]. Control law based on sliding-mode theory in order to
drive mobile robots to a target location, which is specified by a previously acquired
reference image is presented [4]. It is essential to develop new mathematical
theories that one day might outperform the mentioned above theories
[21, 22, 23].
1.1 Drive-By-Wire
It has come to the point, that some of aircraft whole manual control systems
are replaced by electronic interfaces - constructing so called "Fly-By-Wire" systems,
in which movement of controls is translated to digital signals, and a computer
controller determines how to move the actuators. Example of such a plane is a
Boeing 787 Dreamliner [10]. Recent development also applies similar systems to
prototype cars in "Drive-By-Wire" systems [5].
Overview of Drive-By-Wire manual control system in comparison to the mechanical
manual control is shown on Fig 1. Drive-By-Wire is a basis of creation of
remote manual controls, in which signals are sent through wireless connections,
and are translated to mechanical actions of its actuators using the controller on
subject vehicle. Example of a remotely controlled vehicle is a prototype of