[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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160 A. Babiarz, R. Bieda, and K. Jaskot Fig. 2. RoboSoccer system overview 2.1 Robot Subject The subject to control is a robot, shown at figure 3 with a two-wheeled differential drive, operated by two DC motors. Each of motor has an incremental magnetic encoder, that counts how much a wheel has rotated, and it is the only sensor available at the vessel. It has an on-board micro controller constructed, based on ATMEL microprocessor. It is able to realize simple control procedures, making it possible for Master Control System to focus on more sophisticated algorithms [7]. The wireless connection, serving as input for commands, is provided by the Xbee module, properly interfaced by the software in the on-board controller. The same Xbee module exists at the other end, in Radio system of the project. Therefore robots could be interpreted as agents [19]. Fig. 3. Robot The robot provides interface for following actions, which can be commanded through the Radio:
A Distributed Control Group of Mobile Robots 161 • Change the speed of wheels i.e. set linear velocity of a robot. • Rotate by given angle, at given angular velocity or at given constant radius. • Move forward/backward by given distance. • Go to a given location. 2.2 Skid Limits Important fact is ensuring that the robot does not slide, as it would input errors to the incremental magnetic encoder, which runs vital part of every algorithm at the robot. That is why the on-board controller avoids skid of wheels, by limiting linear and angular acceleration. It has to be taken into account by the Master Control System, so that the system is cohesive. The limits are calculated in work [7] and are listed in Table 1. Table 1. Limits Limit Value Unit Acceleration 1 Angular acceleration 0.5 The was obtained experimentally by checking whether a set acceleration causes any sliding and repeating the experiment successively. The value that is used was additionally lowered by 50% in order to minimize the risk of skid, while the was calculated from the interaction of wheels with the ground [7]. 2.3 Vision System The vision system provides coordinates and values of angles of robots and ball on the playground. It acquires images from the camera, which is mounted permanently above the playground, via a frame-grabber card. The view from the camera is shown on an exemplary image at Figure 4. Fig. 4. Playground seen by camera
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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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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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