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Cartes incertaines et planification optimale pour la localisation d'un engin autonome

Francis Celeste 1, 2
2 ASPI - Applications of interacting particle systems to statistics
UR1 - Université de Rennes 1, Inria Rennes – Bretagne Atlantique , CNRS - Centre National de la Recherche Scientifique : UMR6074
Abstract : Important improvements have been done in robotics. More and more mobile robots and small unmanned aerial vehicles are planned to be used in different applications due to their ability to move autonomously in their environment. The localization task, through the matching between measurements provided by embedded sensors and features given in a map, is essential. This process, which is based on data fusion techniques, has been well studied. In this thesis, our main goal is to define a methodology for off-line path planning, in order to guarantee the best performance of localization of the robot during motion execution. This performance takes into account the uncertainty of the system dynamics and also of the given environment map representation. First of all, we introduce a way to generate random outcomes of the uncertain map from a model of errors using the point process theory and we produce a multi-level uncertain map for localization. The criterion for planning is built from the posterior Cramèr-Rao bound for the estimation of the system dynamics and the map uncertainty. Both discrete and continuous system dynamical models are considered. The planning problem is solved via heuristic approaches based on the cross-entropy method. The analysis of the performance of the derived path solution is then made using results from the extreme values theory. Finally, some ideas are introduced to demonstrate that the map quality can be improved under resources constraints regarding the localization performance criterion.
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https://tel.archives-ouvertes.fr/tel-00483272
Contributor : Francois Le Gland <>
Submitted on : Thursday, May 13, 2010 - 5:17:27 PM
Last modification on : Friday, October 23, 2020 - 4:36:42 PM
Long-term archiving on: : Thursday, September 16, 2010 - 1:51:32 PM

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  • HAL Id : tel-00483272, version 1

Citation

Francis Celeste. Cartes incertaines et planification optimale pour la localisation d'un engin autonome. Traitement du signal et de l'image [eess.SP]. Université Européenne de Bretagne, 2010. Français. ⟨tel-00483272⟩

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