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Stratégies d'acquisition d'information pour la navigation autonome coopérative en environnement inconnu

Redouane Boumghar 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The main difficulty of autonomous navigation of a mobile robot in a partially comes from the lack of information about the environment. One can not assure the calculated navigation path is as short and as safe as the path calculated if we had all the necessary information on the environment. Information is gathered along the moves of the mobile robot with a varying degree of certainty. This uncertainty come from the environment itself, the perception abilities and the localisation abilities of the robot. Only relevant information acquisitions can help a good execution of the navigation task. The proposed approach is realised in this context : it consists of a navigation strategy based on the determination of zones where information is necessary for the robot to rally its objective.
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https://tel.archives-ouvertes.fr/tel-01020995
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Submitted on : Tuesday, July 8, 2014 - 6:43:07 PM
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  • HAL Id : tel-01020995, version 1

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Redouane Boumghar. Stratégies d'acquisition d'information pour la navigation autonome coopérative en environnement inconnu. Automatique / Robotique. Ecole nationale superieure de l'aeronautique et de l'espace, 2013. Français. ⟨tel-01020995⟩

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