[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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162 A. Babiarz, R. Bieda, and K. Jaskot Acquired images are the only input for vision system, which implements an algorithm, which main goal is to provide precise estimation of position and orientation of objects on field (robots and ball) in different lighting conditions. Vision system not only gives coordinates of objects on the playground, but also field’s and robot’s dimensions. It was constructed in such a way in order to make vision system more adjustable to changing real environments. Main characteristics of the algorithms are [11]: • The estimation of orientation has 2° standard deviation and 10° in worst case. • The estimation of position has 2 standard deviation. • The speed of processing is 30 frames per second (one frame per 30 ). • Small differences in lightning of playground does not influence work of the system. • Algorithm has no problem in recovery from a temporary situation of an object "lost". We can say that the above features are satisfactory. As it can be seen on Figure 5, the values of orientation and position are very accurate. Fig. 5. View from the camera with orientation and position marks sketched on The application implementing the vision algorithm is a stand-alone server and communicates with clients using the TCP/IP network with use of special Extensible Markup Language (XML) based protocol [12].This XML based communication is implemented in a C++ communication library called libqteam providing interface for programming control algorithms. From the view of control algorithms the vision system works as the feedback loop, providing measurements of values being inputs to the controller. The general way of signal in the vision system is shown on Figure 6.
A Distributed Control Group of Mobile Robots 163 Fig. 6. Signal in vison system Camera records images of playground, sends it to the computer as an analogue signal, frame-grabber is capturing digital images from that signal. Then vision algorithm basing on this data find orientations and positions of objects, and provides this information in XML format through TCP/IP connection, providing a server for such type of connection. Coordinates given by vision system can be referred to as a global positioning system. It is due to the fact that the robot has internal local positioning system based on his odometers. Main feature of global positioning, that has to remembered when reading coordinates, is that the point of origin is center of the playground and the chosen team’s goal is on the left. 2.4 Radio System Communication between the master control system and the subject robots is provided by the radio system. It consists of hardware radio module and software for PC that provides output interface. As in the case of vision system, radio system is also implemented as a standalone server, providing interface through TCP/IP connection implemented in the C++ communication library - libqteam. The way of signal in the radio system is shown on Figure 7. The TCP/IP server allows clients to connect and receives commands in simple packet format.
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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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