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).

Short-term contact losses between a pantograph and a contact wire are not included in the standards nor are they taken into account in evaluating pantograph-contact wire interaction. These contact losses, however, accelerate wear and tear as well as disturb operation of vehicles’ drive systems. The article presents the effects of short-term contact breaks as well as an analysis of impact of contact breakages on a vehicle’s current at 3 kV DC power supply. Results of voltage and current oscillations measured in real conditions when pantograph of a DC driven chopper vehicle was running under isolators were presented. Then a simulation model of a vehicles with ac motors and voltage inverters was derived to undertake simulation experiments verifying operation of such a vehicle in condition similar to those measured in real condition.