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Contribution à la commande dynamique des robots mobiles rapides à roues sur sols glissants

Abstract : The research problems considered in this thesis are localization and dynamic control of wheeled robots during their high-speed movement in outdoor environments. We propose an extended Kalman filter for localization. It supplies the position and the orientation of the vehicle in the yaw plan by taking into account latent period of GPS measurement reception, and validating their relevance. This filter was simulated and experimentally tested. A sliding mode controller is designed for path tracking of a differentially driven vehicle, the inputs being respectively the linear velocity and the yaw angle. This controller was developed for two kinds of platforms with four and six wheels. The second control algorithm consists in modulating the couples applied to each of the wheels of a car-like vehicle by an analysis of its dynamic behavior for a yaw velocity error rejection. This algorithm being experimentally validated, was then completed by including the dynamic model of a multi steered wheeled robot. Finally, we study the drift phenomenon in order to use it for a temporally optimized path tracking.
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Contributor : Eric Lucet <>
Submitted on : Friday, November 18, 2011 - 1:48:29 PM
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  • HAL Id : tel-00642620, version 1


Éric Lucet. Contribution à la commande dynamique des robots mobiles rapides à roues sur sols glissants. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2010. Français. ⟨NNT : 2010PA066642⟩. ⟨tel-00642620⟩



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