[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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164 A. Babiarz, R. Bieda, and K. Jaskot Fig. 7. Signal in radio system 3 System Structure 3.1 Drive-By-Wireless System Overview The Master Control System presented connects the features of a Drive-By-Wire control system with wireless connection, creating a Drive-By-Wireless system. Its main part is the master controller and control instruments. It utilizes the robot subject, wireless connection and vision feedback provided by the environment. Overview of the system is presented on Figure 8. Fig. 8. Drive-By-Wireless system
A Distributed Control Group of Mobile Robots 165 3.2 Master Control System Structure The Master Controller is implemented in Java programming language as an application with graphical user interface. It is called qView and on Figure 9 can be seen in the middle. Control algorithms are constructed in its basic layer and graphical user interface utilizes them on application layer allowing user interaction and gives the visual feedback. Additional application is the qPhone, that is a midlet application for cellphones. Utilizing a bluetooth connection between cellphone and PC computer with qView application installed, it transmits the cellphone’s keypad events to qView control algorithms in order to fulfill one of primary goals - possibility to control a robot with a cellphone. Such construction – only transmission of events - makes it able to reuse algorithms, without need of implementing whole new separate controller. However different implementations to planning collision free path [17] are possible e.g. using AI [18], [20]. 3.3 Visual Feedback Fig. 9. Master Control System structure qView application provides the visual feedback of current state of playground. It is rendered using 2D Java graphics library basing on the coordinates gathered from the vision server. In case of successful connection to the vision server, feedback is automatically shown and refreshed at the maximum possible frame rate - i.e. rate at which vision system is processing data from the camera - about 30 frames per second. 3.4 Field Coordinate System The coordinate system of objects on the field is different from the coordinate system of general 2D graphical rendering1 on screen. Vision system coordinate system point of origin is at the center of playground, while the 2D graphical rendering model point of origin is at the top left point of screen/frame. Also the
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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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6 A. Babiarz et al. The description
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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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18 A. Babiarz et al. a) b) Fig. 11.
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Recognition and Location of Objects
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48 P. Demski et al. Fig. 1. Automat
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52 P. Demski et al. 4 Automatic Tar
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54 P. Demski et al. implementing su
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Object Tracking for Rapid Camera Mo
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Object Tracking in a Picture during
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94 Construction of Image Acquisitio
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96 G. Bieszczad et al. effectivenes
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98 G. Bieszczad et al. such a way t
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100 G. Bieszczad et al. Table 1. No
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Prototyping the Autonomous Flight A
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Feature Extraction and HMM-Based Cl
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248 K. Daniec et al. In this articl
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250 K. Daniec et al. Fig. 2. Applic
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252 K. Daniec et al. by the ability
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284 A. Nawrat et al. Table 1. Compa
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288 A. Nawrat et al. S, VA 4,510 4,
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Technology Development of Military
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328 M. Koźlak, A. Kurzeja, and A.
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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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