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Utilisation des réseaux de neurones artificiels pour la commande d'un véhicule autonome

Abstract : The subject of this thesis covers both mobile robotic and artificial neural networks (ANN) fields. Our aim is to study solutions that connectionist techniques can bring to particular problems raised by the automatic control of a car-like vehicle. This report is composed of two main parts. The first of them processes fundamental aspects of mobile robot control and of the use of artificial neural networks for control of complex systems. This first study allows us to underline the different points where ANN can contribute in a control architecture providing a real autonomy to the vehicle while respecting the robustness and rapidity constraints induced by the utilisation of a robot of the size and the speed of a car. We propose in the second part of this report several controllers allowing gradual increase of the robot autonomy. First of all, we are interested in a simple task consisting only in enslaving the robot on a reference path given by a planner. Our approach enables a continuous adaptation of the system facing possible changes of the parameters of the robot or its environment. So as to allow the execution of manoeuvres without external orders, we also propose a methodology for the realisation of controllers based on external sensors of the vehicle. Our approach uses a model allying characteristics from both fuzzy logic and ANN. Finally we show how complex tasks can be realised using a sequence of several simple controllers. Our realisation of the selection system for these controllers, which uses a recurrent ANN, exhibits some characteristics of robustness and very fast reactions when faced to the external events that must be taken into account.
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Contributor : Thèses Imag <>
Submitted on : Wednesday, February 18, 2004 - 2:51:06 PM
Last modification on : Friday, November 6, 2020 - 4:13:14 AM
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  • HAL Id : tel-00004833, version 1




Eric Gauthier. Utilisation des réseaux de neurones artificiels pour la commande d'un véhicule autonome. Autre [cs.OH]. Institut National Polytechnique de Grenoble - INPG, 1999. Français. ⟨tel-00004833⟩



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