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Theses

Commande référencée multi-capteurs pour la navigation d'un robot mobile

Abstract : A classical way to deal with mobile robot control is to synthesize statefeedbacks. As a consequence, such methods require the state estimation and thelocalization of the vehicle. However, this localization step is time-consumingand introduces errors in the control law. The recent development of highperformance sensors allows to express the robotic task in the sensor space rather than in the configuration space, giving rise to a new approach known assensor-based control. The control laws are then defined as output feedbacks and the localization step can therefore be avoided. Among these methods, as CCD cameras provide high-rate meaningful data, visual servoing has been particularly investigated. This method which relies on the interaction between .the camera and the visual features movements consists of regulating an error in the image plane. Nonetheless, as numerous robotic tasks cannot be expressed as a sole regulation of visual datas, different kind of sensory informations has to be used when defining control laws. The works developed in this thesis are highly related to the sensor-based control field and aim at extending the visual servoing techniques. More precisely, we are interested in controlling a mobile robot equipped with a camera and a laser range sensor. From these data, we have elaborated several control strategies allowing such a robot to perform .a visual servoing task in a cluttered environment. We have compared one another and presented corresponding simulation results. Moreover, we have defined the .notion of elementary task, key-notion for sensor-based .navigation. Therefore, the proposed results allow us to deal with the problem .of connecting different kind of robotic tasks in order to perform a complex navigation task in a structured environment.
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  • HAL Id : tel-00132421, version 1

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Viviane Cadenat. Commande référencée multi-capteurs pour la navigation d'un robot mobile. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 1999. Français. ⟨tel-00132421⟩

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