Commande dynamique des robots rapides à roues - Bookswagon
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Home > Mathematics and Science Textbooks > Physics > Classical mechanics > Commande dynamique des robots rapides à roues: (Omn.Univ.Europ.)
Commande dynamique des robots rapides à roues: (Omn.Univ.Europ.)

Commande dynamique des robots rapides à roues: (Omn.Univ.Europ.)


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About the Book

Les problématiques de recherche abordées dans cet ouvrage sont la localisation et la commande dynamique des robots mobiles à roues lors de leur évolution à grande vitesse en environnements extérieurs. Pour la localisation, nous proposons un filtre de Kalman étendu, afin d''estimer la position et l''orientation du véhicule dans le plan du lacet, en tenant compte des temps de latence lors de la réception de mesures GPS. Une loi de commande en suivi de chemin, assurant la régulation de l''angle de lacet et de la vitesse d''avance, est développée en utilisant les techniques de commande de type mode glissant. Une implémentation de cette loi de commande a été réalisée sur deux types de robots mobiles à quatre roues et à six roues. La seconde commande présentée consiste à moduler les couples appliqués sur chacune des roues d''un véhicule à roues directionnelles, en s''appuyant sur une analyse de son comportement dynamique, pour une compensation des erreurs en vitesse de lacet. Enfin, nous étudions le phénomène de dérapage en vue de l''utiliser pour l''optimisation temporelle d''un suivi de chemin.


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Product Details
  • ISBN-13: 9786131542589
  • Publisher: Univ Europeenne
  • Publisher Imprint: Univ Europeenne
  • Height: 229 mm
  • No of Pages: 156
  • Returnable: N
  • Spine Width: 9 mm
  • Width: 152 mm
  • ISBN-10: 6131542589
  • Publisher Date: 28 Feb 2018
  • Binding: Paperback
  • Language: French
  • Returnable: N
  • Series Title: Omn.Univ.Europ.
  • Weight: 290 gr


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