One of the technologies used for localization is GNSS (Global Navigation Satellite Systems), which is exposed to many phenomena, i.e., the occurrence of terrain covers, reflections of the radio waves, and the multipath nature of the radio waves in the propagation environment. To increase the resistance to environmental phenomena, special types of antennas are used, which include, among others, choke ring antennas. The article describes the design and construction of the choke ring antenna and the impact of the mentioned device on the quality of GNSS positioning. The accuracy of the constructed antenna (based on selected accuracy measures: DRMS, 2DRMS, SEP, MRSE, SAE) is calculated together with positioning errors determined for two types of antennas: choke ring antenna and the dedicated antenna supplied by the manufacturer in RTK mode. The results confirm that the designed choke ring antenna can be used for positioning without significantly losing accuracy in the RTK mode.

The effective use of robotic manipulators is particularly important when carrying out hazardous tasks. Often, for this type of mission, manipulators equipped with a hydraulic drive system are used, and their work results primarily from the implementation of precise movements through their effectors. In heavy manipulators, limiting the uncontrolled movement resulting from high inertia and relatively low stiffness has an impact on the improvement of the control precision. Therefore, the paper presents experimental studies that allow the assessment of the impact of the use of counterbalance valves on the precision and dynamics of a manipulator with a hydrostatic drive system. The tests were carried out for a wide range of effector velocities along a horizontal trajectory, on the basis of which, it was found that it was possible to improve the precision and dynamics of the work of such manipulators due to the precision of the trajectory and pressures in the drive system.

Many fields, where human health and life are at risk, are increasingly utilizing mobile robots and UGVs (Unmanned Ground Vehicles). They typically operate in teleoperation mode (control based on the projected image, outside the operator’s direct field of view), as autonomy is not yet sufficiently developed and key decisions should be made by the man. Fast and effective decision making requires a high level of situational and action awareness. It relies primarily on visualizing the robot’s surroundings and end effectors using cameras and displays. This study aims to compare the effectiveness of three solutions of robot area imaging systems using the simultaneous transmission of images from three cameras while driving a UGV in complex terrain.

The article explored the potential for enhancing the off-road mobility of unmanned ground vehicles (UGV) equipped with a hydrostatic drive system. The analysis showed that effectively overcoming rough or soft terrain demands a slip limitation. In the UGVs with hydrostatic drives, flow dividers are used for this purpose. Unfortunately, they have certain drawbacks, such as reduced efficiency due to pressure losses. In order to minimize this phenomenon, an external braking system was used as a new slip control system. Therefore, simulation studies were carried out to assess the new slip control system while overcoming terrain obstacles due to the reduction of energy consumption and improving the mobility of the UGV.

The following paper describes research on the influence of hydraulic accumulator parameters on the efficiency of energy recovery for a simulation model of a wheel loader using the results of experimental research. A design solution for the energy recovery system for the loader attachment was presented, which allows for the recovery of the potential energy of the boom, bucket, and load. The presented simulation model was developed based on a real object. The necessary operating parameters were determined using experimental tests. The study used the co-simulation method of mechanical and hydraulic models in order to more accurately reflect the actual behavior of the research object. The validated simulation model was extended with the developed energy recovery module based on a hydraulic accumulator. The results of the conducted tests have indicated the influence of hydraulic accumulator parameters on the efficiency of energy recovery and potential directions for further research.

One of the problems limiting the off-road mobility of multi-axle-wheeled vehicles is a kinematic discrepancy, which increases the resistance to motion when negotiating obstacles. This paper presents the results of research on the possibility of reducing the kinematic discrepancy in vehicles with a hydrostatic drive for each wheel by the appropriate selection of hydraulic components—hydraulic motors and flow dividers. Four different configurations of the drivetrain were tested. They used slow-running hydraulic orbital motors and multi-piston radial motors, as well as gear and spool flow dividers. The tests were conducted with computer simulations based on tests that had already been performed to identify hydraulic parts. They allowed for the assessment of the influence of the characteristics of the components and the configuration of the drive system on the differentiation of the rotational speeds of individual wheels, slippage between the wheels and the ground, and the developed driving torques while overcoming obstacles. These values directly translate into the kinematic discrepancy of the system, the ability to overcome terrain obstacles, and energy consumption.