[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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The Dedicated Wireless Communication Device for Group of Unmanned Vehicles Krzysztof Daniec, Karol Jędrasiak, Roman Koteras, Aleksander Nawrat, and Tadeusz Topór-Kamiński Abstract. This article describes communication system designed and implemented on Silesian University of Technology based on experience acquired in previews projects. Communication system was designed for micro UAVs. First part of this work describes physical layer and second part describes software layer such as data encryption, establishing and maintaining connection. Proposed devices was tested on group of UAVs and acquired results are very promising. 1 Introduction Communication is one of the most important aspects of monitoring, managing and remote controlling various types of unmanned vehicles. Currently most of the unmanned vehicles are controlled remotely by a trained operator. Such approach is sufficient and efficient only for the small scale operations. In case of need of application of a large group of unmanned vehicles at the same time another approach is required. One of the commonly used solutions is partial autonomy of the object. The role of the operator is changed from continuously controlling to simple issuing orders to the vehicle . A significant amount of unmanned vehicles are large enough to carry some type of dedicated computer that is responsible for communication and autonomous navigation. However the size and especially the weight of the computer is not small enough for application in miniature, flying objects. Therefore new dedicated miniature communication device was required to develop. Krzysztof Daniec ⋅ Karol Jędrasiak ⋅ Roman Koteras ⋅ Aleksander Nawrat ⋅ Tadeusz Topór-Kamiński Silesian University of Technology, Institute of Automatic Control, Akademicka 16, 44-101 Gliwice, Poland e-mail: {krzysztof.daniec,karol.jedrasiak, roman.koteras,aleksander.nawrat}@polsl.pl A. Nawrat and Z. Kuś (Eds.): Vision Based Systems for UAV Applications, SCI 481, pp. 247–255. DOI: 10.1007/978-3-319-00369-6_16 © Springer International Publishing Switzerland 2013
248 K. Daniec et al. In this article we present a developed miniature radio communication device that is dedicated for application in unmanned vehicles. It allows autonomous communication between the miniature unmanned vehicles in a group without the need for continuous ground control. The implementation is based on the results of the previous work in the field of wireless transmissions [1] and consists of two layers: the physical layer and secure communication layer. The main contribution of the article is presentation of the secure, miniature communication device that allows creation of groups of miniature autonomous unmanned vehicles. Application of the presented in the article device allows for autonomous communication without any PC class devices onboard and therefore improves the stability and reliability of the SETh [2] like systems. 2 Literature Review Developing a new kind of dedicated software is always preceded by a thoughtful literature review. There are not many projects aimed for developing a new dedicated hardware. Most of the literature discussion is center around final application. Authors in the work [3] present an infrared communication device. It is based on pulse modulation technique and PWM in order to increase the communication distance. Recently the main stream of research in the area of wireless communication has been divided into two main parts. Scientists centered around the first part are attempting to solve the problems of cooperation of multiple mobile robots over wireless embedded transmission devices [4] or creation of pervasive sensor networks [5]. Aim of the research in the second part is to increase the throughput and communication delays in the LTE networks [6]. A matter of great importance is security of the wireless transmission. There are numerous approaches based on encryption. However there are also approaches trying to improve the safety of the data by changing the physical way of transmission [7] or introducing a new way of authorization and authentication of packets. 3 Communication Model The act of communication between the vehicles within the group is essential for implementation of cooperation algorithms allowing partial autonomy of the vehicle. At the same time the link between the mobile vehicles can be interpreted as e.g. Ethernet network and apply one of existing routing algorithms in order to send the information from object A (e.g. UAV [9]) to object C with help of an object B in the middle when there is no direct link between A and C. Reliable communication is necessary for navigation purposes [10]. Traditionally used communication models are presented in the fig. 1. In the fig.1a a centralized communication model is presented. In the model each of the objects is communicating via cable or radio by universal radio modem with central computer. Such approach allows cooperation of the objects only within the area covered by the main computer. In
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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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12 A. Babiarz et al. a) b) Fig. 7.
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Recognition and Location of Objects
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116 D. Bereska et al. Presented in
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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184 D. Bereska et al. 4.1 Mechanica
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186 D. Bereska et al. 4.1.3 Open-Lo
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188 D. Bereska et al. Fig. 16. Comp
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Probabilistic Approach to Planning
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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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