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Commande Conjuguee d''un Robot Mobile by Guerin-F

Commande Conjuguee d''un Robot Mobile

by Guerin-F
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Book cover type: Paperback
  • ISBN13: 9786131548963
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Omniscriptum
  • Publisher Imprint: Omniscriptum
  • Publication Date:
  • Pages: 132
  • Original Price: GBP 41.0
  • Language: French
  • Edition: N/A
  • Item Weight: 205 grams
  • BISAC Subject(s): Engineering (General)

Ce mémoire de thèse est le résultat d'un travail de recherche visant à approfondir l'étude du comportement dynamique d'un robot mobile à deux roues motrices dont les caractéristiques mécaniques sont proches de celles d'une petite automobile. Le modèle que nous proposons repose sur l'application du principe fondamental de la dynamique et considère la plupart des caractéristiques mécaniques du robot mobile. Plus complet, ce modèle remplace avantageusement le modèle cinématique utilisé habituellement en robotique mobile. Par ailleurs, sa formulation finale reste relativement simple ce qui permet son utilisation dans le cadre d'applications temps réel. Ce modèle a été ensuite mis à profit dans le cadre de deux applications différentes: la stabilisation de configurations fixes et la commande référencée vision. Concernant la stabilisation de configurations fixes, la commande qui a été développée permet le suivi d'une trajectoire optimale lissée par des portions de clothoïdes. La commande référencée vision exploite le système de vision stéréoscopique embarqué sur le robot mobile.

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