[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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72 Z. Kuś and A. Nawrat vertical and horizontal planes. The helicopter moves between the points which are located on different altitudes and situated on different sides in relation to the very object. Fig. 16. The camera position in the projection on the (x,y) plane during disturbance which influences the helicopter both in horizontal and vertical planes Fig. 17. Transients and defining the object tracking in the response to the disturbance which impacts the helicopter both in horizontal and vertical planes
Object Tracking for Rapid Camera Movements in 3D Space 73 Transients , , and in the response to the camera position changes in the (y, z) plane, which were presented in figure 16, are presented in figure 17. Transients , have some transient error, however, steady state error approaches zero. In this very example we can achieve the improvement of control quality likewise by means of lead compensator PD in close loop in the position where the signals and can be found (cf. fig. 9). The same lead compensators PD which were used previously were used herein. The transients , , and for the disturbance which was defined in figure 15 for the system with the lead compensator PD are presented in figure 18. Fig. 18. The responses of the system in case of excitation defined in figure 16 for the system with the lead compensator PD As figure 18 presents there is a considerable enhancement of the transients quality and the steady state error remains equal zero. As the presented examples indicate, the developed control system provides the correct object tracking during disturbances which occur in various directions in 3D.
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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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16 A. Babiarz et al. the camera ser
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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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178 D. Bereska et al. The aim of th
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180 D. Bereska et al. 3 Control Alg
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182 D. Bereska et al. Fig. 5. Schem
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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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206 Practical Applications of Class
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208 M. Mellado and K. Skrzypczyk an
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210 M. Mellado and K. Skrzypczyk a
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214 M. Mellado and K. Skrzypczyk Fi
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216 M. Mellado and K. Skrzypczyk 6
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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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274 A. Nawrat et al. alia weather c
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276 A. Nawrat et al. have an embedd
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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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282 A. Nawrat et al. The phase cond
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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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