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Génération active des déplacements d'un véhicule agricole dans son environnement

Abstract : In this work, we propose an automatic guidance system for safe navigation of a mobile robot in an open environment. The principle is to control the direction and the speed oh the vehicle in order to preserve its physical integrity and that of its environment. That results in the generalization of obstacle's concept to estimate the admissible speeds of the vehicle taking into account the surface navigation, the capabilities of the vehicle and its state. To accomplish this objective, th system has to ; 1) provide to the perception task an area on witch it can focus its attention to build the environment, 2) generate acceptable trajectories by th vehicles ; 3) estimate the admissible speed profile for each of them, 4) finally, select the most optimal with respect to a predefined criterion. Simulated and real results show the performance of the system obtained against various scenarios.
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Submitted on : Monday, February 13, 2012 - 2:13:35 PM
Last modification on : Wednesday, September 28, 2022 - 3:13:01 PM
Long-term archiving on: : Monday, May 14, 2012 - 2:35:15 AM


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  • HAL Id : tel-00669534, version 1



Pierre Delmas. Génération active des déplacements d'un véhicule agricole dans son environnement. Autre. Université Blaise Pascal - Clermont-Ferrand II, 2011. Français. ⟨NNT : 2011CLF22110⟩. ⟨tel-00669534⟩



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