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1

Evaluation of popular path planning algorithms

Kara Mehmet

International Journal of Electronics and Telecommunications

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2024

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Vol. 70, No. 1

13--22

EN

The navigation of mobile robots is a key element of autonomous systems, which allows robots to move effectively and securely in changing environments with greater autonomy and precision. This study aims to provide researchers with a comprehensive guide for selecting the best path-planning methods for their particular projects. We evaluate some popular algorithms that are regularly used in mobile robot navigation, in order to demonstrate their specifications and determine where they are most effective. For example, one algorithm is used to model the problem as a standard graph, and another algorithm is found to be the most suitable for highly dynamic and highly dimensional environments, due to its robust path-planning capabilities and efficient route construction. We also filter high-performance algorithms in terms of computational complexity, accuracy, and robustness. In conclusion, this study provides valuable information on its individual strengths and weaknesses, helping robotics and engineers make informed decisions when selecting the most appropriate algorithm for their specific applications.

2

Trajectory Planning for Mobile Manipulators with Control Constraints

Pająk Grzegorz, Pająk Iwona

Pomiary Automatyka Robotyka

|

2023

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R. 27, nr 2

21--30

EN

This paper presents the method of trajectory planning for mobile manipulators considering limitations resulting from capabilities of robotic system actuators. The fulfillment of control constraints is achieved by introducing virtual control scaling of the robot trajectory in the limited periods of time. Such an approach allows researchers to obtain the trajectories fulfilling control constraints without significantly increasing the time of task execution. The proposed method generates sub-optimal trajectories maximizing the manipulability measure of the robot arm, preserves mechanical and collision avoidance limitations and can be used in real-time trajectory planning. The effectiveness of the presented solution is confirmed by computer simulations involving a mobile manipulator with parameters corresponding to KUKA youBot.

PL

W pracy przedstawiono metodę planowania trajektorii dla manipulatorów mobilnych uwzględniającą ograniczenia wynikające z możliwości układów napędowych robota. Spełnienie ograniczeń na sterowana zostało osiągnięte poprzez wprowadzenie wirtualnego sterowania skalującego trajektorię robota w ograniczonych przedziałach czasu. Takie podejście pozwoliło na uzyskanie trajektorii spełniających ograniczenia na sterowania bez znaczącego wydłużenia czasu realizacji zadania. Zaproponowana metoda generuje sub-optymalne trajektorie maksymalizując miarę manipulowalności ramienia robota, zachowuje ograniczenia mechaniczne oraz warunki unikania kolizji i może być zastosowana do planowania trajektorii w czasie rzeczywistym. Skuteczność zaproponowanego rozwiązania została potwierdzona symulacjami komputerowymi wykonanymi z użyciem mobilnego manipulatora o parametrach odpowiadających robotowi KUKA youBot.

3

Formation control of nonholonomic wheeled mobile robots using adaptive distributed fractional order fast terminal sliding mode control

Damani Allaeddine Yahia, Benselama Zoubir Abdeslem, Hedjar Ramdan

Archive of Mechanical Engineering

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2023

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LXX, nr 4

567–-587

EN

In this paper, an adaptive distributed formation controller for wheeled nonholonomic mobile robots is developed. The dynamical model of the robots is first derived by employing the Euler-Lagrange equation while taking into consideration the presence of disturbances and uncertainties in practical applications. Then, by incorporating fractional calculus in conjunction with fast terminal sliding mode control and consensus protocol, a robust distributed formation controller is designed to assure a fast and finite-time convergence of the robots towards the required formation pattern. Additionally, an adaptive mechanism is integrated to effectively counteract the effects of disturbances and uncertain dynamics. Moreover, the suggested control scheme’s stability is theoretically proven through the Lyapunov theorem. Finally, simulation outcomes are given in order to show the enhanced performance and efficiency of the suggested control technique.

4

Zastosowanie krzywych Beziera w syntezie sterowania nadrzędnego grupą robotów mobilnych

Krzykała Adam, Janiec Łukasz, Roszkowska Elżbieta

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

71-80

PL

W ramach elastycznego wykorzystania systemów robotycznych niezmiernie istotna jest automatyzacja syntezy modelu sterowania w oparciu o zadaną specyfikację zadań robotów. W niniejszej pracy rozważamy model zdarzeniowego sterowania nadrzędnego i koncertujemy się na algorytmizacji wyznaczania ścieżek robotów i ich podziału na sektory dla klasy ścieżek opisanych krzywymi Beziera. W niższej warstwie używane jest sterowanie w czasie ciągłym do śledzenia ścieżki przez każdego z robotów. Podział koordynacji na dwa poziomy sterowania pozwala na optymalne rozwiązanie problemu braku zakleszczeń w systemie oraz całościowe podejście do sterowania systemem wielu robotów mobilnych. Opisane zostało podejście do planowania ścieżek robotów jako sklejanych ścieżek Beziera z ciągłością C, kryterium i sposób ich podziału na zasoby oraz przykład koordynacji wieloma robotami mobilnymi.

EN

Under the conditions of flexible use of robotic systems, it is extremely important to automate the synthesis of control models for a given specification of robot tasks. In this paper we consider an event-driven supervisory control model for a group of mobile robots sharing a common motion space. We focus on the algorithmization of robot path planning and calculation of their discrete representations (required by the above model) for a class of paths described by Bezier curves. The developed concept has been verified simulation-wise on a number of examples, one of which we present in this paper.

5

Zastosowanie kamer hiperspektralnych w nawigacji robotów mobilnych

Więckowski Rafał, Jakubczyk Kacper, Siemiątkowska Barbara

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

201-210

PL

Ocena przejezdności terenu jest zwykle dokonywana na podstawie mapy wysokości, w przypadku pojazdów istotna jest nie tylko geometria terenu, ale także rodzaj podłoża np. trawa, droga wyboista, asfalt. W poniższym artykule proponujemy wykorzystanie kamery hiperspektralnej i metody porównywania histogramów do klasyfikacji rodzaju podłoża. Przedstawiliśmy wyniki eksperymentów dla danych zebranych w rzeczywistym środowisku. Wykazaliśmy, że zastosowanie kamery hiperspektralnej umożliwia rozpoznawanie różnego typu powierzchni podłoża.

EN

An important element of the navigation system is the assessment of traversability. It is usually made on the basis of a height map. In the case of vehicles, not only the height is important, but also the type of ground, e.g. grass, bumpy road, asphalt. In the following article, we propose the use of a hyperspectral camera and a method of comparing histograms to classify the type of substrate. We presented the results of the experiments for data collected in a real environment.

6

Wykrywanie anomalii w zachowaniu robota usługowego z wykorzystaniem sieci LSTM

Lis Kamila, Szynkiewicz Wojciech, Niewiadomska-Szynkiewicz Ewa, Ciecierski Konrad

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

211-222

PL

Praca dotyczy zagadnień cyberbezpieczeństwa mobilnych robotów usługowych z rozproszoną architekturą sterowania. Prezentowane jest autorskie podejście do detekcji anomalii w działaniu robota na podstawie odczytów z czujników, przy założeniu, że ataki skutkują niezgodnym z zakładanym zachowaniem robota. Opracowany system wykrywania włamań RIDS wykorzystuje głębokie, rekurencyjne sieci neuronowe. W pracy przedstawiona jest architektura sieci, jej parametry oraz atrybuty, na podstawie których identyfikowane są potencjalne ataki. Rozwiązanie zostało zweryfikowane w środowisku laboratoryjnym z wykorzystaniem robota TIAGo firmy PAL Robotics. Wyniki badań potwierdzają, że proponowany system może skutecznie wspierać proces wykrywania zagrożeń komputerowych wpływających negatywnie na funkcjonowanie systemów robotycznych.

EN

The paper addresses cybersecurity issues of mobile service robots with distributed control architecture. A novel robot intrusion detection system (RIDS) that employs deep recurrent neural networks to detect anomalies in robot performance based on sensor readings, under the assumption that attacks result in incompatible robot behavior is described. The performance of the RIDS system was evaluated in a laboratory environment using the TIAGo robot from PAL Robotics. The presented experimental results confirm that RIDS can effectively support the process of detecting computer threats that negatively affect the service robot operating.

7

Sterowanie wielopoziomowe grupą robotów mobilnych we wspólnej przestrzeni ruchu

Roszkowska Elżbieta, Jakubiak Janusz

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

243-254

PL

Niniejsza praca stanowi kontynuację naszych badań nad syntezą sterowania dla systemów wielu robotów mobilnych. Zakładamy podejście hybrydowe, które obejmuje poziom sterowania nadrzędnego, opartego na dyskretnym modelu zdarzeniowym oraz poziom sterowania robotem, oparty na ciągłym czasowym modelu ruchu robota. W pracach wcześniejszych zdefiniowano zasady koordynacji działania robotów we wspólnej przestrzeni ich ruchu oraz warstwę sterowania poszczególnymi robotami w sposób zapewniający realizację ich zadań z uwzględnieniem wymagań i ograniczeń generowanych przez warstwę nadzoru. Celem obecnych badań jest uszczegółowienie i dalsze rozwinięcie powyższej koncepcji poprzez określenie modeli i algorytmów sterownia nadrzędnego oraz niskopoziomowego sterowania ruchem robotów w określonych trybach działania wynikających z zaproponowanych zasad ich koordynacji.

EN

This work continues our research on control synthesis for multiple mobile robot systems. We assume a hybrid approach that includes a supervisory control level based on a discrete event model and a robot control level based on a continuous time model of robot motion. In our prior work, we proposed the logic for coordinating the robots in a shared motion space and the control of individual robots that ensures accomplishment of their missions under the constraints determined by the supervisory control. The aim of this research is to detail and further develop the above concept by defining models and algorithms for the supervisory control and the low-level control of robot motion in the specific modes resulting from the proposed logic of the robot coordination.

8

Fixed-time VFO control for a unicycle

Michałek Maciej M., Sobański Rafał M., Defoort Michael

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

191-200

EN

A conventional application of the Vector-Field-Orientation (VFO) control design method to the set-point control problem leads to controllers with an infinite-time convergence of the stabilization errors. In this paper we try to extend a family of VFO control laws, applicable to unicycle kinematics, with a version which makes the stabilization errors finite-time convergent to zero where, additionally, a settling time is upper bounded by a constant which does not depend on an initial unicycle configuration. This kind of the control problem is called the fixed-time stabilization. Under assumption that the control inputs of the unicycle are unrestricted to any closed subset of R2, we show how to modify the finite-time VFO controller to obtain a bounded fixed-time control law. A control performance obtained with the proposed fixed-time VFO controller has been illustrated by simulation results.

9

Tuning of characteristics of dynamic driving suspensions in an autonomous robot with omnidirectional wheels

Duda Sławomir, Gembalczyk Grzegorz, Klein Wojciech, Dudek Olaf

Journal of Theoretical and Applied Mechanics

|

2022

|

Vol. 60 nr 2

293--302

EN

The article presents results of a research and development work on a suspension of an autonomous mobile robot with omnidirectional wheels. At the beginning, the research object and requirements for suspensions in mobile platforms are discussed. In the following part, a computational model used in the optimization process is presented. An important issue was to determine kinematic excitations generated by omnidirectional wheels, which was identified experimentally and used in numerical calculations. The obtained results were experimentally verified by tests with a prototype suspension node which was mounted on the “vehicle quarters” test stand.

10

FDA* : a focused single‐query grid based path planning algorithm

Boumediene Mouad, Lamine Mehennaoui Lamine, Lachouri Abderazzak

Journal of Automation Mobile Robotics and Intelligent Systems

|

2021

|

Vol. 15, No. 3

37--43

EN

Square grid representations of the state‐space are a commonly used tool in path planning. With applications in a variety of disciplines, including robotics, computational biology, game development, and beyond. However, in large‐scale and/or high dimensional environments the creation and manipulation of such structures become too expensive, especially in applications when an accurate representation is needed. In this paper, we present a method for reducing the cost of single‐query grid‐based path planning, by focusing the search to a smaller subset, that contains the optimal solution. This subset is represented by a hyperrectangle, the location, and dimensions of which are calculated departing from an initial feasible path found by a fast search using the RRT* algorithm. We also present an implementation of this focused discretization method called FDA*, a resolution optimal algorithm, where the A* algorithm is employed in searching the resulting graph for an optimal solution. We also demonstrate through simulation results, that the FDA* algorithm uses less memory and has a shorter run‐time compared to the classic A* and thus other graph‐based planning algorithms, and at the same time, the resulting path cost is less than that of regular RRT based algorithms.

11

Thermal navigation for blind people

Marzec Paweł, Kos Andrzej

Bulletin of the Polish Academy of Sciences. Technical Sciences

|

2021

|

Vol. 69, nr 1

art. no. e136038

EN

This article presents a system of precise navigation for a visually impaired person which uses GPS navigation and an infrared sensor in the form of an infrared matrix. The presented system allows determining the orientation and distance of a blind person relative to a selected object, e.g. a wall or road edge. The application of the above solution facilitates a significant increase in the accuracy of determining the position of a blind person compared to the accuracy offered by commonly used ground satellite devices. The system uses thermal energy accumulated in the environment without the need to generate additional signals. The main parts of the system are a simple infrared matrix, data processing system and vibrating wristband. Messages and navigation warnings are sent to a blind person in the form of a vibration code. The article describes the method of determining the path of a specified width and distance from the wall of a building, curb, etc., along which a blind person should move. The article additionally describes the method of determining the orientation of a blind person depending on the selected object. Such a method facilitates verifying whether the visually impaired person is moving according to the indicated direction. The method can also be used to navigate mobile robots. Due to the use of natural energy for data registration and processing, the mobile navigation system can be operated for a long time without the need to recharge the battery.

12

UAV Mission Definition and Implementation for Visual Inspection

Adam Tomáš, Babič František

Annals of Computer Science and Information Systems

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2021

|

Vol. 25

343--346

EN

This paper describes the architecture of a UAV-based flight mission-definition system. The primary objective aims at improving mission planning efficiency for conducting inspection activities using Unmanned Aerial Vehicles (UAV), concerning state-of-the-art waypoint-based techniques. During testing, the autonomous execution of the trajectory reduced the time required in all cases by almost a half while achieving the same output as a user-controlled manual flight. The proposed solution extends the possibilities of users in creating complex flight trajectories and significantly contributes to the higher time efficiency of recurrent flights.

13

Mobile robots interacting with obstacles control based on artificial intelligence

Chuyen Tran Duc, Hoa Roan Van, Dien Nguyen Duc, Nguyen Tung Lam

Annals of Computer Science and Information Systems

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2021

|

Vol. 27

13--16

EN

In this paper, research on the applications of artificial intelligence in implementing Deep Deterministic Policy Gradient (DDPG) on Gazebo model and the reality of mobile robot has been studied and applied. The goal of the experimental studies is to navigate the mobile robot to learn the best possible action to move in real-world environments when facing fixed and mobile obstacles. When the robot moves in an environment with obstacles, the robot will automatically control to avoid these obstacles. Then, the more time that can be maintained within a specific limit, the more rewards are accumulated and therefore better results will be achieved. The authors performed various tests with many transform parameters and proved that the DDPG algorithm is more efficient than algorithms like Q-learning, Machine learning, deep Q-network, etc. Then execute SLAM to recognize the robot positions, and virtual maps are precisely built and displayed in Rviz. The research results will be the basis for the design and construction of control algorithms for mobile robots and industrial robots applied in programming techniques and industrial factory automation control.

14

Algorithms for the Safe Management of Autonomous Vehicles

Baïou Mourad, Mombelli Aurelien, Quilliot Alain, Adouane Lounis, Zhu Zhengze

Annals of Computer Science and Information Systems

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2021

|

Vol. 25

153--162

EN

We deal here with a fleet of autonomous vehicles, devoted to internal logistics inside some protected area. This fleet is ruled by a hierarchical supervision architecture, which, at the top level distributes and schedules the tasks, and, at the lowest level, ensures local safety. We focus here on the top level, while introducing a time dependent estimation of the risk induced by the traversal of any arc. We set a model, state structural results, and design a bi-level algorithm and a A* routing/scheduling algorithms which both aim at a well-fitted compromise between speed and risk and rely on reinforcement learning.

15

Porównanie metod pozycjonowania robota mobilnego w terenie

Borycki Kamil, Kostecki Szczepan, Sokołowski Michał, Włodarczyk Daniel

Pomiary Automatyka Robotyka

|

2020

|

R. 24, nr 1

83--87

PL

W artykule przedstawiono trzy wybrane metody pozycjonowania robota mobilnego w terenie oraz ich weryfikację na torze testowym, zbudowanym na potrzeby zawodów European Rover Challenge 2019. Badania zrealizowano z użyciem łazika marsjańskiego „IMPULS II” zbudowanego przez studentów Politechniki Świętokrzyskiej. Przeprowadzone badania pozwoliły na porównanie dokładności pozycjonowania robota mobilnego w terenie. Do analizy oraz wizualizacji badań posłużyła aplikacja umożliwiająca sterowanie oraz śledzenie pozycji robota. Dodatkowo zostały wykonane pomiary odległości łazika od zadanego punktu. Analiza mapy terenu oraz zastosowane algorytmy pozwalają na dojazd robotem do zadanego punktu.

EN

The article presents three selected methods of positioning the mobile robot in the off-road conditions and their verification on the test track built for the European Rover Challenge 2019 competition. The research was carried out using the Mars rover „IMPULS II” built by students of the Kielce University of Technology. The research allowed comparison of the mobile robot positioning accuracy in the off-road conditions. The analysis and visualization of research was done using an application that allows control and tracking of the robot’s position. Additionally, measurements of the rover’s distance from the given point were made. Terrain map analysis and applied algorithms allow robot to get to the given point.

16

Controller area network standard for unmanned ground vehicles hydraulic systems in construction applications

Szynkarczyk Piotr, Wrona Józef, Bartnicki Adam

Journal of Automation Mobile Robotics and Intelligent Systems

|

2020

|

Vol. 14, No. 1

3--12

EN

Unmanned vehicles occupy more and more space in the human environment. Mobile robots, being a significant part thereof, generate high technological requirements in order to meet the requirements of the end user. The main focus of the end users both in civil, and so called “defense and security” areas in the broadly defined segments of the construction industry should be on safety and efficiency of unmanned vehicles. It creates some requirements for their drive and control systems being supported among others by vision, communication and navigation systems. It is also important to mention the importance of specific design of manipulators to be used to fulfill the construction tasks. Control technologies are among the critical technologies in the efforts to achieve these requirements. This paper presents test stations for testing control systems and remote control system for work tools in the function of teleoperator using the CAN bus and vehicles which use hydrostatic drive systems based on the Controller Area Network (CAN) standard. The paper examines the potential for using a CAN bus for the control systems of modern unmanned ground vehicles that can be used in construction, and what limitations would possibly prevent their full use. It is exactly crucial for potential users of unmanned vehicles for construction industry applications to know whether their specific requirements basing on the tasks typical in construction [9] may be fulfilled or not when using the CAN bus standard.

17

Research Studio for Testing Control Algorithms of Mobile Robots

Dudzik Sebastian, Szelag Piotr, Baran Janusz

International Journal of Electronics and Telecommunications

|

2020

|

Vol. 66, No. 4

759--768

EN

In recent years, a significant development of technologies related to the control and communication of mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these technologies requires having the necessary hardware and software to enable prototyping and simulation of control algorithms in laboratory conditions. The article presents the Laboratory of Intelligent Mobile Robots equipped with the latest solutions. The laboratory equipment consists of four quadcopter drones (QDrone) and two wheeled robots (QBot), equipped with rich sensor sets, a ground control station with Matlab-Simulink software, OptiTRACK object tracking system, and the necessary infrastructure for communication and security. The paper presents the results of measurements from sensors of robots monitoring various quantities during work. The measurements concerned, among others, the quantities of robots registered by IMU sensors of the tested robots (i.e., accelerometers, magnetometers, gyroscopes and others).

18

Model konstrukcyjny i sterowanie robotami mobilnymi w środowisku z przeszkodami

Maciąg Bartosz, Makohoń Wojciech, Milewski Krzysztof, Piotrowski Robert

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej

|

2019

|

Nr 68

33--36

PL

W dzisiejszych czasach mobilne roboty autonomiczne zyskują coraz większą popularność, zarówno w środowiskach przemysłowych jak i w konsumenckich. Mają one głównie na celu ułatwianie pracy człowieka poprzez przejęcie części jego obowiązków. Z racji różnorodności środowisk, w jakich mogą one pracować, korzystają z algorytmów omijania przeszkód w celu osiągnięcia swobody poruszania się. Artykuł przedstawia model konstrukcyjny oraz wykonanie dwóch autonomicznych robotów mobilnych wraz z planszą, na której były przeprowadzane testy. Następnie po zmontowaniu pojazdów należało je zaprogramować. W tym celu opracowano algorytm omijania przeszkód, oparty na poszukiwaniu bezkolizyjnej ścieżki na podstawie obliczania pochodnej z uśrednionych wartości pomiarów. Dodatkowo, w celu prostej zmiany parametrów działającego algorytmu, opracowano aplikację mobilną na urządzenia z systemem Android. Na koniec przeprowadzono badania testowe oraz dokonano analizy uzyskanych wyników.

EN

Nowadays autonomous robots gain increasingly more popularity in both consumer and industrial applications. Their main goal is to support human’s work. Due to high diversity of environments these robots work in, there is a need for utilizing obstacle avoidance algorithms which allow them for safe maneuvering. This paper presents a complete process of designing and assembling two autonomous robots as well as the board used for tests. One algorithm was proposed, which was based on calculating derivative of averaged sensor measurements. Additionally, various software development aspects are covered, including a mobile application for Android devices, which was used as a supervisory control. In the end, a series of performance tests were conducted, along with results analysis.

19

Mobile platform for an entry-level embedded programming courses

Poryzała Paweł, Kociołek Marcin, Kropidłowski Karol

Elektronika : konstrukcje, technologie, zastosowania

|

2019

|

Vol. 60, nr 9

11--15

EN

Information and Communications Technology (ICT) branch has a huge impact on our society. Informatics and programming is an universal and ubiquitous tool in many industries and research areas. It also dominates career choices of technical college graduates and ‘technically minded’ pupils in secondary schools. This is a negative phenomenon from the point of view of academic teachers in the field of electronics. Active promotion of the electronics both as a field of study and as a future profession is necessary in order to reverse negative trends. Modern, effective and attractive teaching methods and tools are needed. This paper presents a mobile platform which can be used in both entry-level courses offered to students at technical universities (like Microprocessor Systems or Embedded Programming) and as a platform for active promotion of electronics at children’s universities, activity clubs or research groups in schools etc.

PL

Branża ICT (ang. Information and Communications Technology) ma ogromny wpływ na nasze społeczeństwo. Informatyka oraz programowanie stanowią podstawowe i niezastąpione narzędzie pracy w wielu dziedzinach przemysłu oraz nauki. Zdominowały one również wybory dotyczące kariery zawodowej zarówno absolwentów techników jak i „zorientowanych technicznie” uczniów szkół średnich. Z punktu widzenia nauczyciela akademickiego zajmującego się klasyczną elektroniką jest to niewątpliwie negatywny trend. W celu jego odwrócenia konieczna jest promocja elektroniki zarówno jako atrakcyjnego kierunku studiów jak i ścieżki kariery. Konieczne jest opracowywanie nowoczesnych, efektywnych a przy tym atrakcyjnych metod oraz narzędzi nauczania. W artykule zaprezentowano platformę mobilną do nauczania podstaw programowania systemów wbudowanych, która może zostać wykorzystana do kształcenia studentów elektroniki (Systemy Mikroprocesorowe, Architektura Komputerów) oraz wykorzystana do aktywnej promocji kierunku studiów realizowanej na warsztatach uniwersytetów dziecięcych oraz ponadprogramowych zajęciach w szkołach.

20

A framework for autonomous UAV swarm behavior simulation

Cybulski Piotr

Annals of Computer Science and Information Systems

|

2019

|

Vol. 18

471--478

EN

In the last several years a large interest in the unmanned aerial vehicles (UAVs) has been seen. This is mostly due to an increase of computational power and decreasing cost of the UAVs itself. One of an intensively researched area is an application of a swarm behavior within team of such UAVs. Simulation tools are one of the means with which quality of solutions in this matter can be measured. In this paper such simulation framework is proposed. The proposed framework is capable of taking under consideration interferences between communicating UAVs, as well as interaction between UAV and surrounding environment. Mathematical models based on which simulation is performed were described, definition of simulation scenario and results of exemplary simulation were also presented.