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Artifical potential fields algorithm for Mars rover path planning in an unknown enviroment

Wyrąbkiewicz K., Tarczewski T., Grzesiak L. M.

Poznan University of Technology Academic Journals. Electrical Engineering

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2014

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No. 80

183--189

EN

In this paper artificial potential fields method applied to autonomous mobile robot - Mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. Inserted by graphic data input interface in top view mode obstacles are deployed in environment area. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented.

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Artifical potential fields with extended Bug algorithm for Mars rover path planning in an unknown environment

Wyrąbkiewicz K., Tarczewski T., Grzesiak L.M.

Computer Applications in Electrical Engineering

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2014

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Vol. 12

422--433

EN

In this paper artificial potential fields method applied to autonomous mobile robot -mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. The object can be inserted by graphic data input interface in top view mode. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented. Extended algorithm is used because in the environment may be located complex obstacles.

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Wykorzystanie interfejsu Ethernet do przesyłania danych pomiarowych między systemami wbudowanymi

Wyrąbkiewicz K.

Pomiary Automatyka Kontrola

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2013

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R. 59, nr 4

333--336

PL

W artykule przedstawiono metody podłączenia systemów wbudowanych i układów dedykowanych do sieci Ethernet w celu integracji rozproszonych systemów pomiarowych. W przypadku rozproszonych systemów pomiarowych, w których wymagana jest akwizycja danych oraz transmisja na odległość stosuje się specjalne systemy dedykowane, które wyparły systemy oparte na komputerach stacjonarnych. Takie rozwiązanie pozwala zaoszczędzić miejsce oraz energię wymaganą do pracy systemu pomiarowego. Dzięki podłączeniu systemu pomiarowego do sieci Ethernet możliwe jest zdalne zarządzanie danymi pomiarowymi oraz ich transmisja do innego miejsca. Dodatkowo została przedstawiona nowatorska metoda tworzenia szablonu aplikacji dedykowanej. Przedstawiona metoda tworzenia aplikacji na system mikro-procesorowy ułatwia pisanie programu oraz ułatwia jej przenośność pomiędzy różnymi platformami sprzętowymi.

EN

The paper presents methods for connecting embedded and dedicated systems to the Ethernet network to integrate distributed measuring systems. In the case of the distributed measuring systems which require data acquisition and remote transmission, special dedicated systems have replaced the systems based on desktop computers. This solution saves space and energy required to operate a measuring system. Due to connection of the measuring system to the Ethernet network, remote management of measurement data and data transfer to the other place are possible. The paper defines the objective of the project and presents the model of transmission (Fig. 1). There is proposed a solution using four temperature sensors in the measuring system. The paper contains a description of the application dedicated to the measuring system. In addition, an innovative method for creating an application template is shown (Fig. 2). There is also presented the algorithm for the proposed application model (Fig. 3) and transmission for the program PuTTY (Fig. 4). The display panel of the measuring system is shown in Fig. 5. There is presented the transmission with use of the dedicated PC program (Fig. 6). The described solution of transmission of the measurement data between devices dedicated for measuring systems and a PC enables remote reading outside the object on which a series of temperature measurements is made. This solution can be easily extended with other devices reading the data, allowing supervision and monitoring of the object.