[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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84 Z. Kuś and A. Nawrat 4 Examples of Control System Operation in the Presence of Disturbances Distortion in the form of the helicopter position change in horizontal and vertical axes is transmitted to the camera position. Distortion in the form of the helicopter rotation has impact on the camera rotation. The rotation of the head of the camera corrects the camera position which was disturbed before. Because of small size of the helicopter and camera it is assumed that the camera position is equal to the helicopter position. The helicopter rotation is added to the camera rotation. Figure 7 represents the situation when the helicopter changes its position only in the axis after distortion occurs. Fig. 7. Disturbance in the form of the helicopter position changes in the horizontal axis Transients and in the response to the camera position changes in axis are presented in figure 8. The change of the camera position is equal to the change of the helicopter position which is the result of wind blowing in a horizontal surface. As figure 8 presents the change of the position caused the change of the required angle of camera rotation in direction of the tracked object. The camera head turns in order to set the camera rotation angle to set value . Transient has some minor overshoots. We can improve the control quality by means of adding lead compensator PD in close loop with signal .
Object Tracking in a Picture during Rapid Camera Movements 85 Fig. 8. Transients and in the response to the camera position changes in axis Figure 9 represents the situation when the helicopter changes its position only in the axis after distortion occurs. Fig. 9. Transients and in the response to the camera position changes in axis
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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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18 A. Babiarz et al. a) b) Fig. 11.
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20 A. Babiarz et al. patrol point i
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22 A. Babiarz et al. particular ang
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24 A. Babiarz et al. The sample cod
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Recognition and Location of Objects
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Recognition and Location of Objects
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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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212 M. Mellado and K. Skrzypczyk wh
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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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