[Show abstract][Hide abstract] ABSTRACT: In this article, we are introducing the method of the localization of the deep-ocean pipe end-point. The set of various sensors located along the pipe are used for measuring the data describing the shape of the pipe.
Several variants of calculation algorithm have been developed for the processing the gathered information. The simulation results describing the error characteristics of the input and output variables are included as well. The article contains also the basic information about the technical realization concept of the proposed method.
10th (2013) ISOPE Ocean Mining and Gas Hydrates Symposium, Szeczecin, Poland; 09/2013
[Show abstract][Hide abstract] ABSTRACT: A visual system provides many advantages against other types of sensors, observing and measuring of the process from a safe distance for example, but on the other hand new objectives and problems must be solved, e.g. significant data transfer, camera vibration elimination, speed of data processing and many others.
Visual systems can be applied to perform dimensions verification, quality testing of surface attributes, object identification, mobile robot localization, etc. This paper’s content is aimed at the use of visual systems for navigation and localization of mobile robot with help of circular marks placed in unknown environment. The mark
recognition consists of combination of several image processing algorithms. The results have showed stability, satisfactory dynamics and program effectivity. Optimization of control parameters was done by genetic algorithms.
[Show abstract][Hide abstract] ABSTRACT: In the recent years, intelligent vehicles became an important part of the service robotics. Besides routine tasks for the service robotics, such as localization and navigation, intelligent vehicle must solve many specific tasks. Although fully autonomous intelligent vehicle does not exist, there are many support systems nowadays for which vehicles are closer to the vision of self-piloted vehicle. This article presents state of art in this section of service robotics. The main body of the article introduces a definition of intelligent vehicle and automated functions used in such vehicles. Future challenges of the intelligent vehicles are also presented.
[Show abstract][Hide abstract] ABSTRACT: The paper deals with a problem of modeling of an unknown environment by mobile robot control system. The robot is equipped with sensory system constructed for measuring distances to obstacles in the surrounding environment. The range data is used to compute grid a based model of the environment utilized for navigation tasks. The contribution accentuates the proposal of appropriate sensor models for the range finders. The models are designed on the basis of the sensor identification procedures and they are used to interpret distance measurements by sensory fusion algorithms. Experimental examples of occupancy grids built from real data recorded in the environment are presented.
[Show abstract][Hide abstract] ABSTRACT: The contribution deals with mathematical modelling of the ultrasonic sensors. Design of the model is based on the data obtained
by identification of the sensor. Novel methodology for determination of the sonar radiation cone width is presented. This
procedure allows to specify the shape of the sonar radiation cone. The identification of the Polaroid sonar revealed some
yet not modelled properties. The proposed mathematical sonar model is able to define the measured data. The more accurate
sensor model allows the mobile robot to move in the environment more safely.
KeywordsUltrasonic rangefinder–identification of the sonar radiation cone width–mathematical model of ultrasonic sensor
[Show abstract][Hide abstract] ABSTRACT: The problem of creating the map of an unknown environment by mobile robot control system is considered using range readings obtained by ultrasonic range finder. A grid-based representation of a robot working space is chosen. The goal is the determination of occupied and empty areas in the working environment, which is not a simple problem due the uncertainty introduced by the sensory system. Three different algorithms for map generation based on probability theory, the Dempster- Shafer theory of evidence and fuzzy set theory are compared. Experimental examples of occupancy grids, built from real data recorded in an office-like environment, are presented. K e y w o r d s: ultrasonic sensor, occupancy grid