, Le télémètre laser embarqué à l'avant du RobuFAST est un télémètre laser une nappe. Il est capable de détecter la présence d'objets à une distance de 10 m sur 270 deg. à la fréquence de 15 Hz

, A.1.2.4 Autres capteurs

, Le RobuFAST est également muni de capteurs proprioceptifs fournissant des informations sur l'état des actionneurs du véhicule : les moteurs pour l'entraîne-ment et les vérins pour la direction sont munis de codeurs permettant

L. Jaguar, 1) est un robot mobile conçu par la société Dr Robot Inc. Ce robot est électrique, doté de quatre roues motrices indépendantes. Il est adapté aux contextes intérieurs comme extérieurs grâce à sa compacité. Ses caractéris-tiques générales sont fournies dans le Tab

, Instrumentation Pour connaitre son état et percevoir son environnement, le Jaguar est équipé avec un ensemble de capteurs. Ces capteurs, intrinsèques et extrinsèques, permettent d'acquérir les données nécessaires pour pouvoir alimenter convenable

A. Bibliographie and E. , « nuTonomy to test world's first fully autonomous taxi service in Singapore this year, Adept Lynx, vol.28, p.2016, 2016.

O. Amidi, Integrated mobile robot control, 1990.

O. Amidi, E. Chuck, and . Thorpe, « Integrated mobile robot control, Mobile Robots V. T. 1388. International Society for Optics et Photonics, pp.504-524, 1991.

R. Anderson, M. David, and . Bevly, « Estimation of tire cornering stiffness using GPS to improve model based estimation of vehicle states, Proceedings IEEE on Intelligent Vehicles Symposium, pp.801-806, 2005.

T. Bailey and D. Hugh, Simultaneous localization and mapping (SLAM) : Part II, vol.13, pp.108-117, 2006.
DOI : 10.1109/mra.2006.1678144

E. Bakker, L. Nyborg, B. Hans, and . Pacejka, Tyre modelling for use in vehicle dynamics studies, Rapp. tech. SAE Technical Paper, 1987.

D. Ball, « Farm Workers of the Future : Vision-Based Robotics for Broad-Acre Agriculture, IEEE Robotics & Automation Magazine, 2017.

M. J. Barton, « Controller development and implementation for path planning and following in an autonomous urban vehicle, Undergraduate thesis, 2001.

O. Bawden, « A lightweight, modular robotic vehicle for the sustainable intensification of agriculture, 2014.

M. Bergerman, « Robotics in agriculture and forestry, Springer Handbook of Robotics, pp.1463-1492, 2016.

D. M. Bevly, R. Jihan, and G. Christian, « Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness, IEEE Transactions on Intelligent Transportation Systems, pp.483-493, 2006.

S. Blackmore, « Robotic agriculture-the future of agricultural mechanisation, Proceedings of the 5th European conference on precision agriculture, pp.621-628, 2005.

R. Bogue, « Robots poised to revolutionise agriculture, Industrial Robot, vol.43, pp.450-456, 2016.

R. R. Brooks, S. Sundararaja, . Iyengar-;, K. Martin, . Iagnemma et al., Multi-sensor fusion : fundamentals and applications with software, The 2005 DARPA grand challenge : the great robot race. T. 36, 1998.

M. Buehler, K. Iagnemma, and S. Sanjiv, The DARPA urban challenge : autonomous vehicles in city traffic, 2009.

G. Campion, G. Bastin, and D. Brigitte, « Structural properties and classification of kinematic and dynamic models of wheeled mobile robots, IEEE transactions on robotics and automation, vol.12, pp.47-62, 1996.

C. Cariou, « Contribution à la commande de robot mobile poly-articulé à roues sur sol naturel : application à la conduite autonome des engins agricoles, 2012.

C. Cariou, « Automatic guidance of a four-wheel-steering mobile robot for accurate field operations, Journal of Field Robotics, vol.26, pp.504-518, 2009.

J. Cheng, « Construction method of line-segments based map from 2D laser sensor data for mobile robot, 36th Chinese Control Conference (CCC), pp.5849-5852, 2017.

M. Corradini, T. Letizia, . Leo, and O. Giuseppe, « Experimental testing of a discrete-time sliding mode controller for trajectory tracking of a wheeled mobile robot in the presence of skidding effects, Journal of Field Robotics 19, vol.4, pp.177-188, 2002.

R. Coulter and . Craig, Implementation of the pure pursuit path tracking algorithm, Rapp. tech. Carnegie-Mellon Univ Pittsburgh PA Robotics Inst. Curiosity, 1992.

P. R. Dahl, « Solid friction damping of mechanical vibrations, AIAA journal 14, vol.12, pp.1675-1682, 1976.

J. Dakhlallah, « Tire-road forces estimation using extended Kalman filter and sideslip angle evaluation, pp.4597-4602, 2008.

A. De-luca, G. Oriolo, and S. Claude, « Feedback control of a nonholonomic car-like robot, Robot motion planning and control, pp.171-253, 1998.

. De-wit and . Canudas, « A new model for control of systems with friction, IEEE Transactions on automatic control, vol.40, pp.419-425, 1995.

W. Deng and Z. Et-haicen, « RLS-Based online estimation on vehicle linear sideslip, IEEE, American Control Conference, 2006.

D. Denis, « Contribution à la modélisation et à la commande de robots mobiles reconfigurables en milieu tout-terrain : application à la stabilité dynamique d'engins agricoles, 2015.

. Deremetz, R. Mathieu, . Lenain, and T. Benoit, « Stiffness and damping real-time control algorithms for adjustable suspensions : A strategy to reduce dynamical effects on vehicles in off-road conditions, IFACWorld Congress, vol.50, pp.1958-1964, 2017.

, « Path tracking of a two-wheel steering mobile robot : An accurate and robust multi-model off-road steering strategy, IEEE International Conference on Robotics and Automation (ICRA), 2018.

M. Deremetz, « Adaptive trajectory control of off-road mobile robots : A multi-model observer approach, IEEE International Conference on Robotics and Automation (ICRA), pp.4407-4413, 2017.

M. Deremetz, « Path tracking of a four-wheel steering mobile robot : A robust off-road parallel steering strategy, IEEE European Conference on Mobile Robotics (ECMR), pp.62-68, 2017.

M. Doumiati, « Lateral load transfer and normal forces estimation for vehicle safety : experimental test, Vehicle System Dynamics 47, vol.12, pp.1511-1533, 2009.

M. Doumiati, « Onboard real-time estimation of vehicle lateral tire-road forces and sideslip angle, IEEE/ASME Transactions on Mechatronics, vol.16, pp.601-614, 2011.

R. Fierro, L. Frank, and . Lewis, Control of a nonholonomic mobile robot : backstepping kinematics into dynamics, pp.3805-3810, 1995.

G. Gim, E. Parviz, and . Nikravesh, « An analytical model of pneumatic tyres for vehicle dynamic simulations. Part 1 : pure slips, International Journal of vehicle design 11, vol.6, pp.589-618, 1990.

H. Godfray and J. Charles, « Food security : the challenge of feeding 9 billion people, Science 327, vol.5967, pp.812-818, 2010.

B. Goertzel, « Humanoid Robots as Agents of Human Consciousness Expansion, 2017.

O. Green, « Commercial autonomous agricultural platform-kongskilde robotti, Second International Conference on Robotics and associated High-technologies and Equipment for Agriculture and Forestry, pp.351-356, 2014.

C. P. Grey and J. M. Tarascon, « Sustainability and in situ monitoring in battery development, Nature materials 16.1, pp.45-56, 2017.

L. Grimstad and . Johan, The Thorvald II Agricultural Robotic System, vol.4, p.24, 2017.

L. Grimstad, « On the design of a low-cost, light-weight, and highly versatile agricultural robot, IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), pp.1-6, 2015.

A. Guillet, « Commande locale décentralisée de robots mobiles en formation en milieu naturel, 2015.

. Hee-ge and J. Hermann, « Precision in guidance of farm machinery, Precision in Crop Farming, pp.35-50, 2013.

M. Hirose and O. Kenichi, « Honda humanoid robots development, Philosophical Transactions of the Royal Society of London A : Mathematical, Physical and Engineering Sciences, vol.365, pp.11-19, 1850.

G. M. Hoffmann, « Autonomous automobile trajectory tracking for off-road driving : Controller design, experimental validation and racing, ACC'07 American Control Conference, pp.2296-2301, 2007.

G. Huskic, S. Buck, and Z. Andreas, « Path following control of skid-steered wheeled mobile robots at higher speeds on different terrain types, IEEE International Conference on Robotics and Automation (ICRA), pp.3734-3739, 2017.

. Jiang-dagger, . Zhong-ping, and N. Henk, « Tracking control of mobile robots : a case study in backstepping, Automatica 33, vol.7, pp.1393-1399, 1997.

J. L. Jones, « Robots at the tipping point : the road to iRobot Roomba, IEEE Robotics & Automation Magazine, vol.13, pp.76-78, 2006.

A. Kaloxylos, « Farm management systems and the Future Internet era, Computers and electronics in agriculture 89, pp.130-144, 2012.

D. Kanaan, D. Stéphane, and V. Thierry, « Robot for investigations and assessments of nuclear areas, IEEE, 4th International Conference on Advancements in Nuclear Instrumentation Measurement Methods and their Applications (ANIMMA), pp.1-4, 2015.

Y. Kanayama, « A stable tracking control method for an autonomous mobile robot, IEEE International Conference on Robotics and Automation, pp.384-389, 1990.

E. Kayacan, « Towards agrobots : Trajectory control of an autonomous tractor using type-2 fuzzy logic controllers, IEEE/ASME Transactions on Mechatronics 20, vol.1, pp.287-298, 2015.

U. Kiencke and L. Nielsen, Automotive control systems : for engine, driveline, and vehicle, 2000.

P. V. Kokotovic, « The joy of feedback : nonlinear and adaptive, IEEE Control systems, vol.12, pp.7-17, 1992.

M. Krid, B. Faiz, and L. Roland, « A new explicit dynamic path tracking controller using generalized predictive control, International Journal of Control, Automation and Systems, vol.15, pp.303-314, 2017.

A. Kristoffersson, C. Silvia, and L. Amy, « A review of mobile robotic telepresence, Advances in Human-Computer Interaction 2013, 2013.

J. Laumond and . Paul, « La robotique mobile, Rapidly-exploring random trees : A new tool for path planning, 1998.

R. Lenain, « Contribution à la modélisation et à la commande de robots mobiles en présence de glissement : application au suivi de trajectoire pour les engins agricoles, 2005.

, Commande de robots à dynamiques incertaines : le cas des robots mobiles tout-terrain

R. Lenain, « Rejection of sliding effects in car like robot control : Application to farm vehicle guidance using a single RTK GPS sensor, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). T. 4. IEEE, pp.3811-3816, 2003.

, « Model predictive control for vehicle guidance in presence of sliding : application to farm vehicles path tracking, IEEE International Conference on Robotics and Automation (ICRA), pp.885-890, 2005.

, « High accuracy path tracking for vehicles in presence of sliding : Application to farm vehicle automatic guidance for agricultural tasks, Autonomous robots 21, vol.1, pp.79-97, 2006.

, « Mixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots, Journal of Field Robotics 27, vol.2, pp.181-196, 2010.

R. Lenain, « High-speed mobile robot control in off-road conditions : a multi-model based adaptive approach, IEEE International Conference on Robotics and Automation (ICRA), pp.6143-6149, 2011.

R. Lenain, « Robust sideslip angles observer for accurate offroad path tracking control, Advanced Robotics, vol.31, pp.453-467, 2017.

R. Lenain, « Path tracking of a bi-steerable mobile robot : An adaptive off-road multi-control law strategy, International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2018.

A. Link and S. Reusch, « Implementation of site-specific nitrogen application-status and development of the YARA N-Sensor, NJF seminar. T, vol.390, pp.37-41, 2006.

A. Linz, « Autonomous Service Robots for Orchards and Vineyards : 3D Simulation Environment of Multi-Sensor-Based Navigation and Applications, 12th International Conference on Precison Agriculture, ISPA International Society of Precision Agriculture, 2014.

A. Linz, « Modelling environment for an electrical driven selective sprayer robot in orchards, European Conference on Precision Agriculture (ECPA), pp.848-853, 2017.

C. Low, . Boon, and W. Danwei, « Robust path following of car-like WMR in the presence of skidding effects, IEEE International Conference on Mechatronics (ICM'05), pp.864-869, 2005.

E. Lucet, R. Lenain, and G. Christophe, « Dynamic path tracking control of a vehicle on slippery terrain, Control Engineering Practice, vol.42, pp.60-73, 2015.

E. Luis, P. Gonzales-de-santos, and A. S. Matveev, « Nonlinear sliding mode control of an unmanned agricultural tractor in the presence of sliding and control saturation, Robotics and Autonomous Systems, vol.61, pp.973-987, 2013.

M. A. Miller, L. Brian, . Steward, L. Mark, and . Westphalen, « Effects of multi-mode four-wheel steering on sprayer machine performance, Transactions of the ASAE 47, vol.2, p.385, 2004.

M. Contrerasand and J. C. , « Controllers Design for Differential Drive Mobile Robots based on Extended Kinematic Modeling, IEEE European Conference on Mobile Robotics (ECMR), pp.44-49, 2017.

R. M. Murray and S. Shankar, « Steering nonholonomic systems in chained form, Proceedings of the 30th IEEE Conference on Decision and Control, pp.1121-1126, 1991.

R. Nikkilä, S. Ilkka, and K. Kari, « Software architecture for farm management information systems in precision agriculture, Computers and electronics in agriculture 70, vol.2, pp.328-336, 2010.

D. Nistér, O. Naroditsky, and B. James, « Visual odometry for ground vehicle applications, Journal of Field Robotics 23, vol.1, pp.3-20, 2006.

A. Nizard, « Nonlinear Path Tracking Controller for Bi-Steerable Vehicles in Cluttered Environments, pp.19-24, 2016.

N. Noguchi, « Vehicle automation system based on multi-sensor integration, ASAE paper 983111, 1998.

A. Ollero, A. García-cerezo, and J. L. Martínez, « Fuzzy supervisory path tracking of mobile reports, Control Engineering Practice, vol.2, issue.2, pp.313-319, 1994.

A. Ollero, « Control and perception components for autonomous vehicle guidance. Application to the ROMEO vehicles, Control Engineering Practice, issue.10, pp.1291-1299, 1999.
DOI : 10.1016/s0967-0661(99)00091-x

M. Park, L. Sangwoo, and H. Wooyong, « Development of steering control system for autonomous vehicle using geometry-based path tracking algorithm, ETRI Journal, vol.37, pp.617-625, 2015.

P. Polack, « Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach, IFAC-World Congress 50, vol.1, pp.12533-12538, 2017.

. Powerray, , 2017.

G. V. Raffo, « A predictive controller for autonomous vehicle path tracking, IEEE transactions on intelligent transportation systems 10.1, pp.92-102, 2009.

A. L. Rankin, « Autonomous path-planning navigation system for site characterization, Aerospace/Defense Sensing and Controls. International Society for Optics et Photonics, pp.176-186, 1996.

R. L. Raper, « Agricultural traffic impacts on soil, Journal of Terramechanics, vol.42, pp.259-280, 2005.

P. C. Robert, « Precision agriculture : a challenge for crop nutrition management, Plant and soil, vol.247, pp.143-149, 2002.

E. J. Rossetter, « A potential field framework for active vehicle lanekeeping assistance, 2003.

. Rovira-más, . Francisco, C. Ishani, S. Verónica, and . Rubio, , 2015.

, « The role of GNSS in the navigation strategies of cost-effective agricultural robots, Computers and electronics in Agriculture, vol.112, pp.172-183

A. Ruckelshausen, « BoniRob-an autonomous field robot platform for individual plant phenotyping, Precision agriculture 9, p.841, 2009.

J. Ryu, J. Eric, . Rossetter, and G. Christian, « Vehicle sideslip and roll parameter estimation using GPS, Proceedings of the AVEC International Symposium on Advanced Vehicle Control, 2002.

I. Sa, « On visual detection of highly-occluded objects for harvesting automation in horticulture, IEEE International Conference on Robotics et Automation (ICRA), 2015.

R. Saddem, « Precision spraying : from map to control using model-checking, 2017.

C. Samson, « Control of chained systems application to path following and time-varying point-stabilization of mobile robots, IEEE transactions on Automatic Control 40, vol.1, pp.64-77, 1995.

G. Scaglia, « A linear-interpolation-based controller design for trajectory tracking of mobile robots, Control Engineering Practice, vol.18, pp.318-329, 2010.

G. Scaglia, « Linear interpolation based controller design for trajectory tracking under uncertainties : Application to mobile robots, Control Engineering Practice, vol.45, pp.123-132, 2015.

Y. Setiawan and . Dedy, « Path tracking controller design of four wheel independent steering automatic guided vehicle, International Journal of Control, Automation and Systems, vol.14, pp.1550-1560, 2016.

Y. Shan, « CF-pursuit : a pursuit method with a clothoid fitting and a fuzzy controller for autonomous vehicles, International Journal of Advanced Robotic Systems, vol.12, p.134, 2015.

B. Siciliano and K. Et-oussama, Springer handbook of robotics, 2016.

D. C. Slaughter, « The biological engineer : Sensing the difference between crops and weeds, pp.71-95, 2014.

J. M. Snider, « Automatic steering methods for autonomous automobile path tracking, Robotics Institute, 2009.

C. G. Sørensen, « Conceptual model of a future farm management information system, Computers and electronics in agriculture 72.1, pp.37-47, 2010.

P. J. Springer, Military robots and drones : a reference handbook, 2013.

J. Stéphant, A. Charara, and D. Meizel, « Evaluation of a sliding mode observer for vehicle sideslip angle, Control Engineering Practice, vol.15, pp.803-812, 2007.

V. Subramanian, F. Thomas, A. A. Burks, and . Arroyo, « Development of machine vision and laser radar based autonomous vehicle guidance systems for citrus grove navigation, Computers and electronics in agriculture 53, vol.2, pp.130-143, 2006.

S. Sukkarieh, E. Mario, N. Et-hugh, and F. Durrant-whyte, , 1999.

, « A high integrity IMU/GPS navigation loop for autonomous land vehicle applications, IEEE Transactions on Robotics and Automation, vol.15, pp.572-578

Z. Sun, « Ribbon model based path tracking method for autonomous land vehicle, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1220-1226, 2012.

F. Tanaka, « Pepper learns together with children : Development of an educational application, IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.270-275, 2015.

S. Thrun, « Stanley : The robot that won the DARPA Grand Challenge, Journal of field Robotics, vol.23, pp.661-692, 2006.

. Thuilot, . Benoit, D. Brigitte, and M. Et-alain, « Modeling and feedback control of mobile robots equipped with several steering wheels, IEEE Transactions on Robotics and Automation, vol.12, pp.375-390, 1996.

T. Tourette, « Close coordination of mobile robots using radio beacons : A new concept aimed at smart spraying in agriculture, RA-L and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

T. Tourrette, « Tracking footprints for agricultural applications : a low cost lidar approach, Agri-Food Robotics Workshop, 2017.

J. P. Underwood, « Real-time target detection and steerable spray for vegetable crops, Proceedings of IEEE ICRA, workshop on robotics in agriculture, 2015.

M. Vázquez-arella-no, « 3-D Imaging Systems for Agricultural Applications-A Review, Sensors 16, vol.5, p.618, 2016.

R. S. Wallace, « First Results in Robot Road-Following, » In : International Joint Conference on Artificial Intelligence (IJCAI), pp.1089-1095, 1985.

W. Walter and . Grey, « An imitation of life, Scientific American, vol.182, pp.42-45, 1950.

D. Wang, C. Boon, and L. , « An analysis of wheeled mobile robots in the presence of skidding and slipping : Control design perspective, IEEE International Conference on Robotics and Automation, pp.2379-2384, 2007.

D. Wang and Q. I. Feng, « Trajectory planning for a four-wheel-steering vehicle, IEEE International Conference on Robotics and Automation (ICRA), 2001.

H. Y. Wang, « Image-based visual adaptive tracking control of nonholonomic mobile robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). T. 1, pp.1-6, 2001.

J. Wang, J. Steiber, and S. Bapiraju, « Autonomous ground vehicle control system for high-speed and safe operation, International Journal of Vehicle Autonomous Systems, pp.18-35, 2009.

J. S. Wit, Vector pursuit path tracking for autonomous ground vehicles, Rapp. tech. Florida Univ Gainesville Center for Intelligent Machines et Robotics, 2000.

J. Ye, « Tracking control for nonholonomic mobile robots : Integrating the analog neural network into the backstepping technique, Neurocomputing 71, vol.16, pp.3373-3378, 2008.

M. Zakaria and . Aizzat, « Vehicle Path Tracking Using Future Prediction Steering Control, Procedia Engineering, vol.41, pp.473-479, 2012.

M. Zakaria and . Aizzat, « A path tracking algorithm using future prediction control with spike detection for an autonomous vehicle robot, International Journal of Advanced Robotic Systems, vol.10, p.309, 2013.

Y. Zou, « Image-based visual tracking adaptive control for mobile robots, 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp.1-6, 2016.

Y. Zou, « A trajectory reconstruction approach for leader-following of multi-robot system, 12th IEEE Conference on Industrial Electronics and Applications (ICIEA), pp.1534-1539, 2017.