[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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294 T. Czapla and J. Wrona current battlefield. It is very difficult to discuss with the military budgets impact on these area because in this case the main issue is soldier protection. Asymmetric character of contemporary warfare causes imbalance in the means of power, resources and costs resulted from this asymmetry. In consequence, armed forces need to develop complex and expensive operational capabilities and their application methods in order to fight against relatively simple and inexpensive techniques used by irregular enemy troops or terrorists. The efforts focused on unmanned military vehicles had been taken up far before the IEDs threat occurred, what is described in the paper (Saska, Krzystała, Mężyk., 2011). There are several projects on military unmanned vehicles also performed in Poland (Mężyk, Nawrat, 2011). 2 History and Classification The first success in the field of unmanned vehicles technology was achieved by Nicolae Tesla, Serbian inventor living in USA. In 1898 Tesla has built two remotely controlled boats. Six feet long vehicles were built of steel and equipped with electromechanical radio receiver with actuators connected to the steering system. Boats were called “teleautomatons” and had electric propulsion system (Fig. 1a). Despite the fact that inventor tried to offer the vehicle to the military authorities in USA and Great Britain, they shown no interest in using new technology. Over 30 years later German navy was using radio controlled boats developed from cable-controlled boats FL-7 from 1917 (Tesla, 1898). Tesla predicted further development of unmanned vehicles and described it in his diary: „Telautomata will be ultimately produced, capable of acting as if possessed of their own intelligence, and their advent will create a revolution” (Tesla, 1898). Modern unmanned vehicles are becoming to resemble Tesla's vision. Fig. 1. The first two unmanned vehicles: a) Teleautomaton – Tesla’s unmanned boat, b) Wikesham’s land torpedo (sources: Tesla, 1921, Wikersham 1922) In 1928 Elmer E. Wikersham (1922) has patented unmanned ground vehicle that was intended to provide explosives to the target (Fig. 1b). Vehicle remained a prototype but it should be mentioned that idea of the landmine was an answer for position warfare and “trench to trench” tactics.
Technology Development of Military Applications of Unmanned Ground Vehicles 295 The experience gained from position warfare (First World War in Europe 1914- 1918 and Russian-Japanese or Chinese-Japanese wars in Asia) have led to development of remotely controlled ground vehicles intended to provide explosives to the enemy fortifications as a main purpose. The idea of creation the first advanced Japanese unmanned ground vehicle had origin on 22th of February 1932 in the battle for Miaohangchen near Shanghai. During the battle, three Japanese soldiers crawled towards the Chinese fortifications and detonated explosives carried on themselves. The suicide attack allowed to break through the enemy positions but was criticized by General Reikichi Tada as the waste of live the Japanese soldiers. As a supervisor of secret new technologies testing division he started the program that effected with building a series of unmanned military ground vehicles including Yi-Go as the first of them. The first and smallest vehicle carried 35 kg of explosives in front compartment. Two electric motors, 2hp each with were mounted in rear section of the vehicle. Total weight was 200 kgs and top speed in off-road conditions was 4 kph (Jabłoński J.). Fig. 2. Japanese and German self-propelled landmines: a) Mobile mine Yi-Go in version Ko, b) The scheme of mobile mine in version Ko, c) SdKfz. 302 Goliath (sources: Jabłoński, Wikimedia) Similar vehicle, SdKfz. 302 Goliath, was built by Germans and militarily used in Second World War. The vehicle was based on the project of French engineer Adolphe Kegresse. Total mass of carried explosives was 100 kg with total weight 430 kgs. Vehicle was cable-controlled from maximum distance 650 m. Fig. 3. Teletank TT-26 (sources: Бронетехника в Фотографиях, Военный Альбом)
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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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14 A. Babiarz et al. • The camera
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Recognition and Location of Objects
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Omnidirectional Video Acquisition D
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Probabilistic Approach to Planning
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Prototyping the Autonomous Flight A
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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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