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Efficient non-odometry method for environment mapping and localisation of mobile robots

Adamowicz Mateusz, Ambroziak Leszek, Kondratiuk Mirosław

Acta Mechanica et Automatica

2021

Vol. 15, no. 1

24--29

The paper presents the simple algorithm of simultaneous localisation and mapping (SLAM) without odometry information. The proposed algorithm is based only on scanning laser range finder. The theoretical foundations of the proposed method are presented. The most important element of the work is the experimental research. The research underlying the paper encompasses several tests, which were carried out to build the environment map to be navigated by the mobile robot in conjunction with the trajectory planning algorithm and obstacle avoidance.

Electro pneumatic control system for inverted pendulum

Popławski Krzysztof, Ambroziak Leszek, Kondratiuk Mirosław

Acta Mechanica et Automatica

2020

Vol. 14, no. 2

91--97

The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendu-lum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as addi-tional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.