Antoni Kopyt

Optimal selection of UAV for ground target tracking

A method for selecting a UAV for the tracking and following of a ground mobile vehicle is considered, which leads to optimizing operation of a UAV fleet. The UAV is selected from an available fleet taking into account fleet distribution in airspace, performance of fleet members, and the prospective motion of a ground object. The UAV fleet members have various flying qualities, so assigning the aircraft for tracking is based on optimization process. The tracking algorithm with embedded target trajectory prediction is presented. Simulation results associated with the proposed algorithm demonstrated improved efficiencies associated with various ground vehicle trajectories.

Navigation Module for Mobile Robot

Presented paper is a part of project that aimed to develop the mobile platform to support the Police operations especially in difficult terrain or inside buildings, where maneuverability is limited. A mobile platform was adapted so that multiple modules may be installed – navigation, manipulator or specific tools equipment. The navigation module that initializes the autonomous come back was a main feature that was to be developed. Presented article shows principles of the navigation system and results of autonomous return. The hardware, sensors used, software, dataflow, algorithms, are precisely presented as well as the results that validated the system operations.

Development of simulation tests in ACC system scenarios for a car simulator station

This paper presents development of simulation tests for a driving simulation station in ACC (Adaptive Cruise Control) system scenarios. Experiment assumptions, simulation tests procedures, selection of the tested group, analyzed parameters and the results of the preliminary tests were discussed. The comparison between ride parameters of volunteers and a car equipped with ACC system and validation of previously created fuzzy-driver model are main aims of the study. The experiment, composed with two exercises (outside urban and mixed scenarios) will be performed on previously identified tested group of volunteers. Ride parameters, such as velocity, distance to a leading car, time gap, will be assessed according to a prepared procedure.

Aircraft Status Supervision System Concept

AbstractA system for supervision of aircraft status was developed, modeled and simulated. The system assesses overall aircraft status based on data available from external (out-of-aircraft) and int...

A Navigation and Control System for a Mobile Robot for Patrolling Buildings

This paper presents the work completed under a research project titled „Design of a mobile platform for the support of forensic testing of scenes with potential CBRN hazards”. The study focuses on operation of the mobile platform control algorithm, determination of the mobile platform position and preparation of the mobile platform system for integration with a video navigation system. The sensors installed on the mobile platform are intended as emergency backup systems in the event of loss of communication between the platform and its operator. The results of the test drive sessions completed to verify the control algorithm performance are also given.

The Autonomous Return Control System for Mobile Platform, Used in CBRN Hazards

Paper presents the system that allows the mobile robot to return safely in case of connection lost especially in CBRN environment. Such a difficult work conditions forced using visual navigation as a supporting sensor, since the classical methods may be not applicable. Following article shows the methodology, structure and implementation of autonomous return for mobile platform. The structure of data fusion from divers’ sensors – camera, odometers and IMU, algorithm implementation and results obtained are presented.

Some Problems of Navigation System for Criminalistic Robot

In the paper authors presented some results of development of navigation system for criminalistic robot. Robot destination is to support police officers during forensic activities in the buildings when we have potential CBRN hazards. Robot is remotely controlled based on visual cameras observation but it has also autonomous navigation system. The robot is at the beginning of police action carry out hazard identification and, if they occur robot perform forensic activities. As part of its tasks is to make a photographic documentation of the event. This involves the registration status of the room a special 3D camera and take pictures of individual items and disclosed fingerprints. Then taken are indicated by the operator or the entire sample items. Charges are also forensic traces of biological and existing on-site chemicals substances. Robot should be able to perform most of the tasks normally performed by police forensic technicians. Big problem is when during forensic activities operator lost communications with the robot. By the existing on place CBRN hazards man can’t enter the building where robot is lost. At this moment start work system of autonomy. Robot must return the same way how it arrive till the moment when operator will get communication with them again. The paper presents the autonomous control system that was created for visual navigation for police robot. The algorithm implemented on the platform already been simulated and tested in MATLAB/Simulink. The article presents the results of running the robot with the new algorithm.

Optimal Object Location by a Fleet of Various UAVs

Locate task optimization methodology and preliminary results for a various UAV fleet are presented in the article. In the main part of the paper, aircraft and sensor models are described with constraints imposed on areas covered by each aircraft. The models and operational area are discretised for implementing a Mixed Integer Linear Programming (MILP) algorithm with the objective to minimize the mission time. A two step optimization processes is described: 1) assign search areas to particular aircraft; 2) calculate trajectories for each vehicle.