Metoda zdalnego zarządzania robotami mobilnymi

• Autorzy: Żukowska I. , Dimitrova-Grekow T. , Salauyou V.

Warianty tytułu

EN

A remote controlled system based on education robots

• Języki publikacji: PL

Abstrakty

PL

Artykuł przedstawia badania efektywności zarządzania układami mobilnymi przez Internet oraz testowanie skuteczności algorytmu śledzenia robota sterowanego zdalnie. Eksperymenty zostały przeprowadzone na zrealizowanym do tego celu systemie - serwis internetowy oferujący przeprowadzanie gry pomiędzy dwoma, zdalnie sterowanymi robotami. Do wykonania powyższych założeń wykorzystany został statystyczny algorytm śledzenia punktu oparty o rozszerzony filtr Kalmana. Przeprowadzono szereg testów.

EN

The paper presents an analysis of the effectiveness of mobile system management via the Internet [1] and testing of the effectiveness of the tracking algorithm robot controlled remotely [2, 3]. A object tracking algorithm based on the Extended Kalman Filter is implemented into a game for two robots (Fig. 1). The project proves the efficiency of the robot control and the EKF accuracy by observing and analyzing the work of the internet service, which allows two remote-controlled robots to take a part in the game [8]. Similar examples are in medicine [5] as well as international research and education [6]. All of them use advanced robotics technologies [4, 7, 9]. The robot used in the experiments is an educational robot Mindstorms NXT and in this paper we prove that it also gives many possibilities to achieve interesting results in robot remote-control and human-robot interaction (Fig. 2). In the case of tests for the reaction time of the robot on request, one can draw positive conclusions. In situations where no response is required from the server, the response time of the systems to commands from the remote computers is instant. The effectiveness of the tracking algorithm for the remote-controlled robot was tested by conducting a series of tests. They showed a proportional dependency between the velocity of the robots and the coordinate errors (Figs. 3 and 4). A possible direction of development of the system may be the use of more advanced Internet technologies, which could accelerate communication between a client and a server.

Słowa kluczowe

PL

robot mobilny; sterowanie przez Internet; śledzenie obiektów; robot edukacyjny; rozszerzony filtr Kalmana

EN

mobile robots; remote Internet control; object tracking; educational robots; extended Kalman filter

• Wydawca: Wydawnictwo PAK
• Czasopismo: Pomiary Automatyka Kontrola
• Rocznik: 2014
• Tom: R. 60, nr 7
• Strony: 492--494
• Opis fizyczny: Bibliogr. 9 poz., rys., wykr.

Twórcy

autor

Żukowska I.

• Politechnika Białostocka, ul. Wiejska 45A, 15-351 Białystok

autor

Dimitrova-Grekow T.

• Politechnika Białostocka, ul. Wiejska 45A, 15-351 Białystok

autor

Salauyou V.

• Politechnika Białostocka, ul. Wiejska 45A, 15-351 Białystok

Bibliografia

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• [2] Atzori L., Iera A. and Morabito G.: The Internet of Things: A survey, Computer Networks. Elsevier, nr. 54 (2010) p.2787–2805.
• [3] Chou Y.C., Ko D. and Cheng H. H.: An embeddable mobile agent platform supporting runtime code mobility, interaction and coordination of mobile agents and host systems, Information and Software Technology. Elsevier, nr. 52 (2010) p.185–196.
• [4] Chen Y. and Hualiang Hu H.: Internet of intelligent things and robot as a service, Simulation Modelling Practice and Theory. Elsevier, nr. 34 (2013) p.159–171.
• [5] Mariappan M., Ramu V., Ganesan T., Khoo B. and Vellian K.: A Remote Navigation Methodology for a Four Wheel Rectangular Configured Holonomic Mobile Telemedicine Robot, Inter. Proc. of Chemical, Biological and Environmental Engineering. Nr 11 (2010), p.60-64.
• [6] Xu C., Ming A., Kanamori C., Aoyama H., Li H., Xub L., Li X., Benjanarasuth T., Nundrakwang S., Purahong B. and Wongd C.C.: Internet based crossover robot remote control competition among Asian countries, Mechatronics. Elsevier, nr. 23 (2013) p.933–941.
• [7] Gascueña J.M. and Fernández-Caballero A.: Agent-oriented modeling and development of a person-following mobile robot, Expert Systems with Applications, Elsevier, nr. 38 (2011) p.4280–4290.
• [8] Dimitrova-Grekow T., Rogowski M: Implementacja algorytmu śledzenia przy użyciu kamery oraz mobilnego robota edukacyjnego, Pomiary Automatyka Kontrola nr. 8 (2013) s 818-821.
• [9] D'Orazio T. and Leo M.: A review of vision-based systems for soccer video analysis, Pattern Recognition. Elsevier, nr. 43 (2010) p.2911–2926.