[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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170 A. Babiarz, R. Bieda, and K. Jaskot orientation. Similar equations apply to the rest of quadrants and backward distance calculations. Having such distance calculated at real time, we can limit the speed accordingly. 4.3 Control Algorithms Control instrument signals have to be translated in order to give the user a way to control a given object. Input devices differ from each other in some ways, but also some things may be in common. Best practice is to join the common things together and create one joint controller, then creating more advanced controllers on its basis for each of control instrument. As there can be numerous control instruments connected to qView, in order to provide proper control, only one input device can be allowed to control a given robot. This is done by simple locking mechanism, in which input devices ask for permission to control a robot, and if one is not controlled at a time, permission is granted and lock is activated. In this time no other control instrument can get access to that robot. Two things in the robot can be controlled - linear and angular speed. Both are accessible directly through functions and this direct approach is most frequently used: 1. Robot::setSpeed(speed). 2. Robot::setTurningSpeed(angSpeed). Although the on-board controller on the robot also gives another way to control the angular speed, through the Robot::setTurningAngle(radAtan) function. It is a turning radius control algorithm implemented in the robot software and detail description is presented in work [7]. It allows to control turning of the robot at constant radius. The parameter given to this function - atan - can be understood as an angle at which robot would turn if it had third leading wheel. Although in order to keep the turning radius constant, the algorithm has to limit the linear speed accordingly, which could cause that the actions of operator are not natural and not as intended. 5 Experimental Results This section describes in detail three taken experiments testing the performance of proposed algorithms. The plots of trajectories shown at Figures 16(a) and 19(a) describe position of robot in x and y coordinates, where the edges of playground are at following values: 0.75 (16) 0.65 (17)
A Distributed Control Group of Mobile Robots 171 5.1 Computer Controlled Intervention The trajectory control successfully executes goals it was given, with the speed limiter working as a helper algorithm. Figure 16 shows the algorithm working as intended. The human operator was controlling the robot using keyboard forward key function, moving the robot towards the edge from left to right. The intervention lowered the speed at the top edge and induced the turn. When the robot got into safe trajectory, it turned off the intervention. Although the current trajectory would make robot hit the right edge, so the speed was eventually limited to 0, because the angle to the edge was too big to change the trajectory. (a) Trajectory (b) Speed (b) Angular speed Fig. 16. Computer controlled intervention Fig. 17. Trajectory tracked
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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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[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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