Ultra-wideband (UWB) technology is one of the most promising wireless communication technologies. Examples of UWB applications include, among others, radiocommunication devices and location systems, due to their operating range, ability to work in outdoor environments, and resistance to multipath effects. This article focuses on the use of UWB technology in constructing a guide localization system for an unmanned ground vehicle (UGV), which is one of the stages of implementing a “follow me” system. This article describes the complete process of UWB signal processing from its acquisition, methods of filtering, and obtained results, to determining the location of the guide. This article examines the possibility of using modified versions of localization algorithms for determining the guide’s location, including trilateration, methods of nonlinear programming, and a geometric algorithm proposed by us. The innovation of this study consists in the implementation of an algorithm that changes the selection of equations (mathematical model) for determining location based on the number of available measurements from UWB sensors.

Detecting obstacles and creating a map of surroundings are essential problems for navigation system of unmanned vehicles. Perception systems for autonomous navigation of unmanned ground vehicles (UGVs) must detect all manner of potential navigation hazards. Until quite recently, UGV perception research had focused largely on perception of 3-D terrain geometry with range sensors, perception of roads, and to a lesser degree on perceiving other traffic. Research effort is now growing on recognizing vegetation to improve the efficiency of off-road navigation. This paper describes both Laser Rangefinder (LR) used for monitoring the environment and mapping system for representing general obstacles (positive, negative and concealment). In addition to using information provided by LR sensor, we use information supplied by Global Positioning System (GPS) and Internal Navigation System.

Unmanned Ground Vehicles (UGV) are devices capable of performing basic working movements without the operator being in their immediate working environment. Their capabilities include but are not limited to the perception of the environment with the use of sensors, determining the platform’s position, and planning and executing its movement. Ultra Wideband (UWB) is one of the wireless communication technologies which is increasingly used in location systems. This article presents the use of UWB technology in developing a guide localization system for a UGV (one of the stages of implementing a follow-me system). The article describes tests carried out on the developed testbed. Their aim was to determine the hardware configuration of the anchor arrangement characterized by the minimum number of lost data packets during operation. In order to determine the influence of the analysed variables on the output values, the method of global sensitivity analysis for neural networks was used.

Determination of post-shakedown quantities of a pipe bend via the simplified theory of plastic zones compared with load history dependent incremental analysis AIP Conference Proceedings 1922, 120004 (2018 Abstract. The work presents the dynamic equations of motion of a unmanned six-wheeled vehicle with mecanum wheels for rescue applications derived with the of Lagrange equations of the second kind with multipliers. Analysed vehicle through using mecanum wheels has three degrees of freedom and can move on a flat ground in any direction with any configuration of platform's frame. In order to derive dynamic equations of motion of mentioned object, kinetic potential of the system and generalized forces affecting the system are determined. The results of a solution of inverse dynamics problem are also published.

Essential difficulties in the operation processes of a single-bucket excavators is the fact that they are multi-functional machines. They can be fitted out with a range of various working features. Hence, elaborate automatic control system is being indispensable. It makes possible, the flexible co-operation with the operator in carrying out different technological tasks. The structure of this system ought to make possible an easy adaptation of the single-bucket excavator for carrying out specific tasks (without wasting a lot of machines' working time). This also applies to work in hazardous conditions for the operator, or completing the earth-moving operations with great precision. In this paper, a solution of such a system is discussed, backed by computer-aided controls in connection with remote control and laser control systems for fixing the position of the machine with improved precision.

Equipping engineering machines and trajectory vehicles with automatic and remote control systems is necessary in case there is any environmental hazard for an operator i.e. environment conditions, an impact from fire field etc. It is particularly crucial when there is no possibility for any person to be in a machine or in its close surrounding. It applies to both extreme environment conditions (high temperature, pressure or environment contamination) and the likeliness of direct man health and life hazard (i.e. removal, disposal or neutralization of hazardous materials or area demining -particularly when the enemy operates on a fire field). In all above cases of using engineering machines and trajectory vehicles there is a need to remote control without the possibility of using direct impulse feedback by operators. That is the reason why it is so necessary to work on elaboration vision system enabling determination of the machine location in geodesic system and operating accessories configuration. This paper describes an overall characteristics of the steering unit in an unmanned ground vehicle depending on tasks to be performed, considering the drive and the steering's system structure required. Current development of visual systems used in unmanned ground vehicles has been shown. A visual system to be used in remote controlled machines and ground vehicles has been presented. Its structure and limitations within picture depth estimation resulting from the system's structure have been presented. Furthermore the system of defining the cameras' location in an external reference system has been described.

This paper presents an analysis of various natural and civilization disasters being angled as possibilities of usage of the remote control or autonomous machines. There are determined the requirements for such a systems of theses vehicles or machines which are able to remove effects of natural disasters and local military conflicts or terrorist attacks. Idea of remote controlled working machines with using of external control, information and observation system is also presented.

Unmanned ground vehicles (UGVs) are technically complex machines to operate in difficult or dangerous environmental conditions. In recent years, there has been an increase in research on so called “following vehicles”. The said concept introduces a guide—an object that sets the route the platform should follow. Afterwards, the role of the UGV is to reproduce the mentioned path. The article is based on the field test results of an outdoor localization subsystem using ultra-wideband technology. It focuses on determining the guide’s route using a smoothing spline for constructing a UGV’s path planning subsystem, which is one of the stages for implementing a “follow-me” system. It has been shown that the use of a smoothing spline, due to the implemented mathematical model, allows for recreating the guide’s path in the event of data decay lasting up to a several seconds. The innovation of this article originates from influencing studies on the smoothing parameter of the estimation errors of the guide’s location.