Skip to Main content Skip to Navigation
Theses

Perception de l'environnement par radar hyperfréquence. Application à la localisation et la cartographie simultanées, à la détection et au suivi d'objets mobiles en milieu extérieur

Abstract : In outdoor robotic context, notion of perception and localization is essential for an autonomous navigation of a mobile robot. The objectives of this PhD are multiple and tend to develop a simultaneous localization and mapping approach in a dynamic outdoor environment with detection and tracking of moving objects (SLAMMOT) with a unique exteroceptive radar sensor in real driving conditions, around 30 km/h. At such high speed, data obtained with a rotating range sensor are corrupted by the own vehicle displacement. This distortion, usually considered as a disturbance, is analyzed here as a source of information. This study explores radar frequency modulated continuous wave (FMCW) technology potential for mobile robotics in extended outdoor environment. In this work, we propose : – a distortion correction on-the-fly with proprioceptive sensors in order to realize a localization and mapping application (SLAM), – a line based SLAM evaluation method, – a consideration of distortion in a proprioceptive purpose for localization and mapping, – an odometry principle based on Doppler velocimetry provided by radar sensor, – a detection and tracking of mobile objects : DATMO, with a unique radar sensor.
Document type :
Theses
Complete list of metadatas

https://tel.archives-ouvertes.fr/tel-00659270
Contributor : Abes Star :  Contact
Submitted on : Monday, May 14, 2012 - 1:49:35 PM
Last modification on : Thursday, January 11, 2018 - 6:17:22 AM
Long-term archiving on: : Wednesday, August 15, 2012 - 2:35:55 AM

File

2011CLF22183-Vivet.pdf
Version validated by the jury (STAR)

Identifiers

  • HAL Id : tel-00659270, version 2

Citation

Damien Vivet. Perception de l'environnement par radar hyperfréquence. Application à la localisation et la cartographie simultanées, à la détection et au suivi d'objets mobiles en milieu extérieur. Autre. Université Blaise Pascal - Clermont-Ferrand II, 2011. Français. ⟨NNT : 2011CLF22183⟩. ⟨tel-00659270v2⟩

Share

Metrics

Record views

10287

Files downloads

4082