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Dive into the research topics where Edouard Ivanjko is active.

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Featured researches published by Edouard Ivanjko.


mediterranean electrotechnical conference | 2004

Extended Kalman filter based mobile robot pose tracking using occupancy grid maps

Edouard Ivanjko; Ivan Petrović

Mobile robot pose tracking is mostly based on odometry. However, with time, odometric pose tracking accumulates errors in an unbounded fashion. This paper describes a way to decrease the odometry error by using an extended Kalman filter (EKF) for fusion of calibrated odometry data and sonar readings. Common approaches for calibrated odometry and sonar fusion use a feature based map which has two uncertainties in the measurement process. One uncertainty is related to the sonar range reading and the other one to the feature/range reading assignment. Our approach is adapted to an occupancy grid map which has only the sonar range reading uncertainty in the measured process. Experimental results on the mobile robot Pioneer 2DX show improved accuracy of the pose estimation compared to the calibrated odometry.


international conference on control and automation | 2005

Kalman filter theory based mobile robot pose tracking using occupancy grid maps

Edouard Ivanjko; Mario Vašak; Ivan Petrović

In order to perform useful tasks the mobile robots current pose must be accurately known. Problem of finding and tracking the mobile robots pose is called localization, and can be global or local. In this paper we address local localisation or mobile robot pose tracking with prerequisites of known starting pose, robot kinematic and world model. Pose tracking is mostly based on odometry, which has the problem of accumulating errors in an unbounded fashion. To overcome this problem sensor fusion is commonly used. This paper describes two methods for calibrated odometry and sonar sensor fusion based on Kalman filter theory and occupancy grid maps as used world model. Namely, we compare the pose tracking or pose estimation performances of both most commonly used nonlinear-model based estimators: extended and unscented Kalman filter. Since occupancy grid maps are used, only sonar range measurement uncertainty has to be considered, unlike feature based maps where an additional uncertainty regarding the feature/range reading assignment must be considered. Thus the numerical complexity is reduced. Experimental results on the Pioneer 2DX mobile robot show similar and improved accuracy for both pose estimation techniques compared to simple odometry.


international convention on information and communication technology electronics and microelectronics | 2014

Cooperative ramp metering simulation

Martin Gregurić; Edouard Ivanjko; Sadko Mandzuka

The increase of vehicle numbers in recent decades resulted in road traffic congestion problems. Such congestions are a characteristic of densely populated urban areas and occur daily during morning and afternoon rush hours. Urban areas have been suffering from the lack of space needed to build new road infrastructure. The traffic congestion problem can be solved by applying new traffic control approaches from the domain of intelligent transportation systems (ITS). One of the applied methods from ITS is known as ramp metering and is used to increase the throughput of urban highways with many on- and off-ramps. Nowadays ramp metering is used in cooperation with additional control approaches like variable speed limit control (VSLC). Prior to implementation, such cooperative traffic control systems have to be tested in simulations using real world traffic data. One of the used simulators is CTMSIM which enables macroscopic simulation of highway traffic and local ramp metering approaches. In this paper the CTMSIM simulator is augmented to enable simulation of cooperative ramp metering algorithms, stand-alone VSLC, and cooperation between ramp metering and VSLC. Augmented simulator is tested using some limited available traffic data with the Zagreb bypass urban highway as a case study.


international conference on industrial technology | 2003

An approach to motion planning of indoor mobile robots

Kristijan Maček; Ivan Petrović; Edouard Ivanjko

In this paper we present a motion planning approach of indoor mobile robots based on integration of A* path planning algorithm and dynamic window local obstacle avoidance method. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementally updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX mobile robot (manufacturer ActivMedia Robotics) using laser range sensor.


Archive | 2010

Model based Kalman Filter Mobile Robot Self-Localization

Edouard Ivanjko; Andreja Kitanov; Ivan Petrović

Mobile robot localization is an important module for mobile robot navigation. Known mobile robot pose is needed for path-planning and task planning purposes. Localization can be relative or absolute. This chapter will describe several methods that combine relative and absolute mobile robot localization assuming that initial pose is given also known as self-localization method. Self-localization means that after the mobile robot receives its initial pose it can determine its pose using only onboard sensor measurements and respective environment model during its movement. As a case study to demostrate proposed concept following onboard sensors are used: encoders for odometry, sonar sensor and monocular-camera. Sonar sensor is used combined with an occupancy grid model and Extended or Unscented Kalman filter for sensor fusion. Mono-camera is used combined with a 3D world model and Extended Kalman filter for sensor fusion. Implemented self-localizations methods are experimentally evaluated using a Pioneer 2DX/3DX mobile robot in a corridor like environment. Obtained results are compared regarding to obtained pose estimation accuracy, memory consumption and computational complexity.


international conference on industrial technology | 2004

Hough transform based correction of mobile robot orientation

Lejla Banjanovic-Mehmedovic; Ivan Petrović; Edouard Ivanjko

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.


international convention on information and communication technology electronics and microelectronics | 2015

Technologies for distributed flight control systems: A review

Miroslav Šegvić; Karolina Krajček; Edouard Ivanjko

This paper reviews the state of the art (SOTA) in distributed flight control technologies using publicly available, scientific and technical publications. Technological developments, such as embedded computing and microelectromechanical systems are enabling advanced aerospace-oriented distributed systems. Distributed systems are comprised of a large number of simple elements, each with its own sensing, actuation and control, in order to obtain the desired behaviour. These systems have the potential to be more economic than a centralized system due to the simplicity of individual components, and possibility of using the same production unit for a different role within the system. The challenge with these systems is the coordination amongst nodes comprising a distributed control network. Benefits of distributed architecture are increased robustness trough redundancy and inherent fault tolerance. The SOTA summary comprises a description of challenges in the design of flight control systems with a distributed structure, technologies currently used in flight control systems and also technologies not specifically related to distributed flight control but applicable for the design of future flight control strategies. Described systems and technologies are represented with examples of real systems including swarms of small Unmanned Aerial Vehicles and distributed networks for Fault Detection and Isolation.


information technology interfaces | 2007

Correlation Based Approach to Mobile Robot Pose Tracking in Unknown Environments

Edouard Ivanjko; Bojana Dalbelo Bašić; Ivan Petrović

The usage of mobile robots in service sector is increasing in the past decade. There are already mobile robots as night guards, tourist guides, transportation units, etc. In order to efficiently perform its task, a mobile robot has to know precisely its current pose. Also to simplify the commissioning of a mobile robot system various algorithms for map building without a human intervention have been developed. In both cases a reliable and robust pose tracking module that can compensate the influence of systematic and non-systematic localization errors in real time is crucial. This paper presents a mobile robot pose tracking approach based on subsequent laser scan readings processed by usage of histograms and correlation comparison. Results obtained with a differential drive mobile robot are given to demonstrate the capabilities of the proposed approach.


international symposium on intelligent control | 2005

Experimental Evaluation of Occupancy Grid Map Improvement by Sonar Data Corrections

Edouard Ivanjko; Ivan Petrović

This paper addresses the creation of a consistent occupancy grid map from local sensors data collected during mobile robot movement. The map building problem, together with the mobile robot localization problem, is one of the major problems of mobile robots navigation. It can be defined as an environment modelling problem using different algorithms for sensor data integration. Bayesian and Dempster-Shafer algorithm combined with sonar sensors were used in our approach. A simple solution to deal with irregular disposition of sonar sensors on mobile robot body has been proposed. It increases the robustness of mapping, which is experimentally evaluated for both Bayesian and Dempster-Shafer on-line mapping algorithms. Experiments were conducted on Pioneer 2 DX mobile robot


international conference on intelligent transportation systems | 2015

A Neuro-fuzzy Based Approach to Cooperative Ramp Metering

Martin Gregurić; Edouard Ivanjko; Sadko Manduka

To solve todays road traffic congestion problems new solutions in the form of advanced control approaches of existing road infrastructure. Such solutions are from the domain of intelligent transportation systems and include various services. Technologies such as advanced driver assistant systems, and communication between vehicles and the road infrastructure are enabling new possibilities in traffic control. Vehicles can obtain a control input from the traffic management system and become an actuator ensuring that the driver complies to the traffic control system. In this paper, a concept of possible automatic vehicle control in cooperation with neuro-fuzzy based urban highway control systems (ramp metering and variable speed limit control) is described. Implemented urban highway control systems are tested using the CTMSIM simulator assuming that all vehicles support automatic vehicle control.

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