[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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166 A. Babiarz, R. Bieda, and K. Jaskot vertical dimension is reversed. Both coordinate systems are shown on Figure 10, where red coordinate system is input from vision, and green one is 2D graphical rendering system. Fig. 10. Coordinate system In order to correctly display objects on the field, following translation has to be made for every coordinate: (1) 2 (2) 2 Both fieldwidth and fieldheight are downloaded from vision system configuration. 4 Computer Controlled Intervention Experiments Computer controlled intervention proposed is a playground edge avoidance system. It is composed of two parallel algorithms: speed limiter and trajectory control, that together achieve a successful avoidance system in given environment. In separate though they are also reusable solutions, that could be base for similar considerations in e.g. automotive industry. 4.1 Speed Limiter The idea of speed limitation is that we want to limit maximum speed, so that the vehicle will not collide with the edge of playground. As we can control the speed, the deceleration can be assumed constant to a maximum possible value of 1 due to the robot skid limits, we only need the distance of robot from the edge in order to calculate maximal speed the robot can move in order to achieve a condition, that he will be able to stop not colliding with the edge. This speed can be calculated from the following kinematic equation:
A Distributed Control Group of Mobile Robots 167 · 1 2 · (3) As time is irrelevant in this problem, we can substitute it using following considerations. Having equation for speed with acceleration included: (4) We want to have speed equal to 0 with deceleration equal to 1 so we get: 0 (5) Which leads to: (6) Substituting this into the (3), assuming 1 , and after few simplifications we get: 1 2 · (7) As we control speed, and distance is the parameter, the solution is: √2 · (8) In order to minimize the computer intervention into user’s control, we do not want to influence speed directly, that is why in fact we limit the maximum speed: √2· (9) Fig. 11. Speed limitation This limitation, equation (9) can be interpreted graphically at Figure 12. It has to comply with the global maximal speed of the robot, shown on Figure 11 with a green plot, equal to 0.6 . The meaning of this graph is that the robot maximal
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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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20 A. Babiarz et al. patrol point i
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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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110 G. Bieszczad et al. has to make
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112 G. Bieszczad et al. MTF functio
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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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254 K. Daniec et al. The idea of us
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Selection of Individual Gait Featur
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278 A. Nawrat et al. particular cha
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280 A. Nawrat et al. • 1-phase el
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284 A. Nawrat et al. Table 1. Compa
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286 A. Nawrat et al. P3 P3 P3 71101
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288 A. Nawrat et al. S, VA 4,510 4,
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290 A. Nawrat et al. Comparison dif
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Technology Development of Military
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312 A. Czornik, A. Nawrat, and M. N
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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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