[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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168 A. Babiarz, R. Bieda, and K. Jaskot speed is being limited due to the distance of edge at approximately 0.18 from the edge in case of 0.6 global speed limitation. 4.2 Distance Measurements The speed limit is parameterized by the distance to edge. That value has to be calculated. And in fact we do not want the minimal absolute distance from the edge (see Figure 12, as this could cause a lock down - i.e. the robot speed would be limited to 0 without any chance of further movement. Fig. 12. Minimal absolute distance from the edge The better choice is to calculate distance to the edge in robot forward and backward orientations (see Figure 13). Even if the speed was limited to 0 at the edge, robot could still turn, making possible the increase of the distance and eventually to move again. This is however harder approach. Fig. 13. Distance from the edge in forward and backward orientations Having coordinates of the robot and size of the playground, we can calculate easily the absolute distances from the edges (see Figure 14): (10) 2 (11) 2 2 2 (12) (13)
A Distributed Control Group of Mobile Robots 169 Having such info and the orientation of the robot in angles 0° is right, 90° is up, 180° is right and 270° is down), we can calculate distance to the edge in forward and backward orientations using trigonometric formulas, that differ a little in four orientation quadrants: 0° 90°, 90° 180°, 180° 270°, 270° 360°; but use the same considerations, thus i present only one quadrant of 0° 90°. Fig. 14. Minimal distances from the edges It is most easy to interpret it graphically in the 0° 90°quadrant shown at Figure 15. We have two cases. The ray shot forward at angle of robot orientation can either intersect with the top edge at Figure 15(a), or side edge at Figure 15(b). We do not have knowledge about this fact, but when we use the trigonometric functions we do not have to know. (a) Top edge intersection (b) Side edge intersection Fig. 15. Forward and backward distance calculation sin , cos (14) sin , cos (15) This is because when we take the minimum of or , we always choose the result of cosine as in case 15(b) and the result of sine in case 15(a) otherwise, which are the correct values of distance to the edge in forward
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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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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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16 A. Babiarz et al. the camera ser
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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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54 P. Demski et al. implementing su
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Object Tracking for Rapid Camera Mo
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94 Construction of Image Acquisitio
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96 G. Bieszczad et al. effectivenes
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100 G. Bieszczad et al. Table 1. No
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114 G. Bieszczad et al. [11] Krupi
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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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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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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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