, 94 6.2.2.3. Contraintes liées aux mesures d'inter-distances, p.95

. .. Localisation, 96 6.3.2. Résultats en simulation et comparaison à la méthode des moindres carrés, vol.102

, 108 6.4.1. CSP lié aux mesures propres d'un robot (vision et distance à la base)

, Conclusion et perspectives 120

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O. Carte,

B. Figure, , vol.2

L. Mk, Quadro habituelle a été étendue avec une carte ODROID-XU4 sur laquelle est installée

, Grâce au capteurs présents sur la carte, il est possible pour nous d'avoir les mesures proprioceptives des vitesses linéaires et angulaires du drone à chaque instant. Le drone est également équipé d'une caméra embarquée de classe Flea FL3-U3-32S2C-CS de FLIR (ancien Point-Grey 4 )

, Il est équipé d'une batterie présentée à la figure B.4a, qui permet d'alimenter les moteurs et la carte électronique qui est le cerveau du drone (voir figure B.4b). À la carte, sont connectés un accéléromètre, un baromètre, un gyroscope, un magnétomètre et en dessous du drone

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