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Système de déploiement d'un robot mobile autonome basé sur des balises

Abstract : This thesis is part of a project which aims at developing an autonomous mobile robot able to perform specific tasks in a preset area. To ease the setup of the system, radio-frequency beacons providing range measurements with respect to the robot are set up beforehand on the borders of the robot’s workspace. The system deployment consists in two steps, one for learning the environment, then a second, where the robot executes its tasks autonomously. These two steps require to solve the localization and simultaneous localization and mapping problems for which several solutions are proposed and tested in simulation and on real datasets. Moreover, to ease the setup and improve the system performances, a beacon placement algorithm is presented and tested in simulation in order to validate in particular the improvement of the localization performances.
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Submitted on : Tuesday, February 20, 2018 - 5:46:05 PM
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  • HAL Id : tel-01713665, version 1


Lionel Génevé. Système de déploiement d'un robot mobile autonome basé sur des balises. Automatique / Robotique. Université de Strasbourg, 2017. Français. ⟨NNT : 2017STRAD024⟩. ⟨tel-01713665⟩



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