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Etude et mise en oeuvre d'un convoi de véhicules urbains avec accrochage immatériel

Abstract : To solve the problems related to the important tra c in the cities, new alternatives, called \Urban Systems Transportation", have been proposed. Those are based on electric vehicles in free access. A necessary functionality of these systems is their capacity to work in platoon. In this manuscript of thesis, the work presented deals with the control of a urban vehicles platoon. In this thesis, a tricycle kinematic modelling is used in order to represent the mobile robot. The transformation into chained system makes it possible to dissociate the lateral and longitudinal commands. The lateral control law, based on exact linearization techniques, enables path following with high-precision (since the model non-linearities are not approximated, but taken explicitly into account), independently of the robot speed. The longitudinal control law, based also on exact linearization techniques, relies on a global control strategy : the platoon state is taken into account, and not only the state of the preceding vehicle. More precisely, the behaviour of the convoy is studied through the states of both the leader and the preceding vehicle. The gap between cars is desired to be equal to a constant curvilinear distance travelled along the reference path. That allows to ensure a coherent behaviour in high-curved paths In order to provide a su cient comfort for the passengers and to ensure safety, supervision functions are added to the nominal control laws. This supervision unit, called \Monitoring", manages also the entering and the leaving of vehicles within the platoon. Experiments, relying on actual vehicles, named Cycabs, make it possible to validate the performances of the control laws. For that, the vehicles are equipped with a wireless communication (WiFi). Two kinds of sensors are envisaged : mainly a sensor RTK-GPS (Real Time Kinematic Global Positioning System), and also a monocular vision system.
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  • HAL Id : tel-00694007, version 1

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Jonathan Bom. Etude et mise en oeuvre d'un convoi de véhicules urbains avec accrochage immatériel. Automatique / Robotique. Université Blaise Pascal - Clermont-Ferrand II, 2006. Français. ⟨NNT : 2006CLF21666⟩. ⟨tel-00694007⟩

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