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Perception multimodale pour un robot mobile en milieu marin

Abstract : In the field of robotics, the autonomous surface vehicles play an important role. They can perform dangerous operations such as marine environment monitoring or hydrographic surveys. Before considering the movement of an autonomous surface vehicle, it is necessary to ensure its perception of the environment. It consists of observing, locating and avoiding obstacles. Due to technological constraints, the complexity of the natural environment and the diverse situations encountered, it is difficult to make a platform which is perfectly autonomous and suited to various applications. This thesis is in the project of ASAROME, a national project about the realization of an autonomous sailboat for long-duration missions. At first, we have designed a perception platform which consists of several types of sensors : hydrophones, panoramic camera, inertiel measurement unit and sonar. From the signals acquired in the experiments, we have developed several signal processing methods. It consists of underwater signal and panoramic image processing for recognition, detection and location of obstacles. To improve the obstacles perception, multi-sensors fusion methods have been developed. All these algorithms are validated in lake or sea. This work is just the first step towards the realization of an autonomous marine robot which is able to achieve long-duration complex missions. But it shows the feasibility through the development of adapted perception capacities.
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https://tel.archives-ouvertes.fr/tel-00637552
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Submitted on : Wednesday, November 2, 2011 - 12:29:51 PM
Last modification on : Friday, March 22, 2019 - 1:31:14 AM
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  • HAL Id : tel-00637552, version 1

Citation

Yan Guo. Perception multimodale pour un robot mobile en milieu marin. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2011. Français. ⟨tel-00637552⟩

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