[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

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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
A Distributed Control Group of Mobile Robots 159 Fig. 1. Overview of Drive-By-Wire manual control system in comparison to the mechanical manual control "Unmanned Ground Vehicle on BMP II Vehicle Platform", that has been developed by Combat Vehicles Research Development Establishment, Avadi, Chennai, India. The prototype consists of Drive-By-Wire system, which includes electromechanical actuators and drives. This system is controlled by a controller and receives commands through wireless network from the Graphical User Interface located in base station [8]. Modern automotive industry is working on new technologies in order to increase safety of cars. Practical example of successful project in this direction are the assistance systems developed by Volkswagen [13]. They have implemented numerous systems that aid driver in driving the car e.g. front assist or lane assist. 2 Literature Review Base for construction of the control system is the RoboSoccer project, referred to as an Environment. Its main modules are used in order to reuse the work already done, making possible focusing on the real control algorithms, in turn giving back a great testing and learning facility. Figure 2 shows the general overview of the RoboSoccer project system. Its divided into three main parts: 1. Robot subject. 2. Vision system. 3. Radio system. Each of the parts is described in following sections in details.
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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Recognition and Location of Objects
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Prototyping the Autonomous Flight A
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Feature Extraction and HMM-Based Cl
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Technology Development of Military
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344 Conclusions Control algorithms
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[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

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