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Sistema de controle híbrido para robôs móveis autônomosHeinen, Farlei José 28 June 2002 (has links)
Made available in DSpace on 2015-03-05T13:53:43Z (GMT). No. of bitstreams: 0
Previous issue date: 28 / Nenhuma / Neste trabalho foi desenvolvido um sistema de controle robusto para robôs
móveis autônomos que é capaz de operar e de se adaptar a diferentes ambientes e
condições. Para isso foi proposta uma arquitetura de controle híbrida (COHBRA),
integrando as duas principais técnicas de controle robótico (controle deliberativo e
controle reativo). Esta arquitetura de controle utiliza uma abordagem de três camadas
para integrar uma camada vital (controle reativo), uma camada funcional (seqüenciador)
e uma camada deliberativa (controle deliberativo). A comunicação entre as diversas
camadas é realizada através de uma área de memória compartilhada, inspirada na
abordagem Blackboard. A arquitetura de controle possui um esquema de múltiplas
representações internas do ambiente: representação poligonal, representação matricial e
representação topológica / semântica.
O sistema de controle desenvolvido tem a capacidade de navegar em um
ambiente dinâmico, desviando tanto de obstáculos estáticos como de obstáculos móveis / In this work we developed a robust control system for autonomous mobile robots
capable of operating and adapting in various environments and conditions. In order to
accomplish this objective an hybrid control architecture (COHBRA) was proposed,
integrating the two main techniques of robotic control: deliberative control and reactive
control. This control architecture uses a three layers approach to integrate a vital layer
(reactive control), a functional layer (sequencer) and a deliberative layer (deliberative
control). The communication between the three layers uses a shared memory approach,
inspired in the Blackboard approach. The control architecture has a structure of multiple
internal representations of the environment: polygonal representation, matricial
representation and topological/semantic representation.
The control system has the ability to navigate in a dynamic environment,
avoiding static obstacles and unexpected mobile obstacles. The deliberative layer uses
the A* algorithm to calcu
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Sistemas de controle e nova arquitetura para diferencial eletrônico em veículos de passeio convencionais a combustão convertidos em veículos híbridos 4x4 / Control systems and new architecture to electric differential systems on internal combustion engine passenger vehicles converted to 4x4 hybrid electric vehiclesSampaio, Rafael Coronel Bueno 30 September 2011 (has links)
Este trabalho apresenta três sistemas de controle distintos para a atuação em sistemas de tração elétrica traseira em veículos de passeio convencionais convertidos em VEHs (Veículos Elétricos Híbridos) 4x4, enfocando o desenvolvimento de um sistema diferencial eletrônico (SDE). As principais arquiteturas de veículos híbridos são apresentadas. O SDE, que atua em tempo de execução nas velocidades angulares dos pneumáticos traseiros em manobras variadas, depende dos sinais de esterçamento e aceleração impostos pelo condutor, considerando as modelagens cinemática e dinâmica do veiculo no cálculo dos valores de referência para o controlador. Controladores PID modificado, neurofuzzy baseado em inteligência artificial e um H-Infinito ótimo são projetados e detalhados. Uma nova arquitetura para o SDE é proposta e apresentada, visando a utilização de sistemas de controle robustos no problema do SDE, traçando-se um paralelo entre o seu desempenho e das arquiteturas convencionais quando o controlador H-Infinito ótimo assume o controle do SDE. O projeto e o desenvolvimento de um mini-VEH, a plataforma HELVIS (Hybrid ELectric Vehicle In low Scale), são apresentados. A implementação de um simulador veicular denominado HELVIS-SIM, inspirado na plataforma HELVIS, é também apresentada. O SDE, que compreende a arquitetura proposta e os controladores, são embarcados e também implementados no HELVIS-SIM. Resultados simulados obtidos no HELVIS-SIM são analisados. Testes experimentais do SDE na plataforma HELVIS são apresentados, considerando apenas testes de bancada sem o contato dos pneumáticos com o solo. / This work presents the development of three distinct control systems to rear electric traction control on conventional touring vehicles converted on 4WD (four-wheel drive) hybrid electric vehicles (HEVs), focusing on the design of a EDS (Electronic Differential System). Main HEV architectures are presented. The EDS controls the rear wheels angular speeds as the driver inputs steering and acceleration commands, considering both dynamic and kinematic models of the vehicle and so the actuators on the calculus of the desired rear angular speeds. One modied PID controller, one AI (Articial Intelligence) based controller and one robust optimal H \'infinite\' controller are designed and outlined. A new EDS architecture is proposed and presented, aimming the use of robust controllers to the EDS problem, comparing the use of the H \'infinite\' optimal controller to conventional EDS architectures. The design of a mini-HEV, the HELVIS (Hybrid ELectric Vehicle In low Scale) platform is also presented. The implementation of a parametric vehicular simulator, the HELVIS-SIM, is discussed. The EDS, which represents the controllers and the proposed architecture, is evaluated on the HELVIS platform and on the HELVIS-SIM. Simulated results are rst run in the HELVIS-SIM. Experimental results of the EDS tests are presented exclusively considering the evaluation on a bench test, without any contact of the platform with the pavement.
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Stability of Multilateral Haptic Teleoperation SystemsMendez, Victor H Unknown Date
No description available.
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Aktionsprimitiv-basierte Steuerungsarchitektur für Anwendungen in der Robotik und Fertigungstechnik / Primitive action based control architecture for applications in robotics and manufacturing engineeringHennig, Matthias, Janschek, Klaus 13 February 2012 (has links) (PDF)
Der vorliegende Beitrag stellt einen Entwurf für eine flexible und robuste Steuerungsarchitektur für Roboter- und Fertigungssysteme vor. Dabei wurde versucht ein offenes Konzept zu realisieren, welches einen vereinfachten Engineeringprozess ermöglicht. Hierzu wird innerhalb der Steuerung eine Trennung zwischen einem funktionellen verhaltensbasierten und einem ablauforientierten Modell vorgeschlagen. Dieser Ansatz wird durch die Verwendung von Aktionsprimitiven innerhalb einer hybriden Robotersteuerung ermöglicht. Diese garantieren durch ihre ausgeprägte Modularität eine hohe Flexibilität und Erweiterbarkeit des entstandenen Systems. Im Beitrag wird sowohl der entstandene Entwurf diskutiert als auch eine prototypische objektorientierte Implementierung vorgestellt sowie erste Ergebnisse präsentiert. / This paper presents a framework for a flexible and robust control architecture for robotic systems. The design incorporates an application independent system concept which allows a simplified engineering process. For this purpose a distinction between a functional behavioural and a sequential control system model is proposed. This approach is based on the utilisation of action primitives within a hybrid control architecture. The use of these primitives affords a high level of modularity through increasing flexibility and expandability of the resulting system. In this paper the proposed framework will be discussed as well as a prototypical object-oriented implementation and first results.
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Développement d’un algorithme de faisceau non convexe avec contrôle de proximité pour l’optimisation de lois de commande structurées / Development of a non convex bundle method with proximity control for the optimization of structured control lawsGabarrou, Marion 26 November 2012 (has links)
Cette thèse développe une méthode de faisceau non convexe pour la minimisation de fonctions localement lipschitziennes lower C1 puis l’applique à des problèmes de synthèse de lois de commande structurées issus de l’industrie aéronautique. Ici loi de commande structurée fait référence à une architecture de contrôle, qui se compose d’éléments comme les PIDs, combinés avec des filtres variés, et comprenant beaucoup moins de paramètres de réglage qu’un contrôleur d’ordre plein. Ce type de problème peut se formuler dans le cadre théorique et général de la programmation non convexe et non lisse. Parmi les techniques numériques efficaces pour résoudre ces problèmes non lisses, nous avons dans ce travail, opté pour les méthodes de faisceau, convenablement étendues au cas non convexe. Celles-ci utilisent un oracle qui, en chaque itéré x, retourne la valeur de la fonction et un sous-gradient de Clarke arbitraire. Afin de générer un pas de descente satisfaisant à partir de l’itéré sérieux courant, ces techniques stockent et accumulent de l’information, dans ce que l’on appelle le faisceau, obtenu à partir d’évaluations successives de l’oracle à chaque pas d’essai insatisfaisant. Dans cette thèse, on propose de construire le faisceau en décalant vers le bas une tangente de l’objectif en un pas d’essai ne constituant pas un pas de descente satisfaisant. Le décalage est indispensable dans le cas non convexe pour préserver la consistance, on dit encore l’exactitude, du modèle vis à vis de l’objectif. L’algorithme développé est validé sur un problème de synthèse conjointe du pilote automatique et de la loi des commandes de vol d’un avion civil en un point de vol donné et sur un problème de synthèse de loi de commande par séquencement de gain pour le contrôle longitudinal dans une enveloppe de vol. / This thesis develops a non convex bundle method for the minimization of lower C1 locally Lipschitz functions which it then applies to the synthesis of structured control laws for problems arising in aerospace control. Here a structured control law refers to a control architecture preferred by practitioners, which consist of elements like PIDs, combined with various filters, featuring significantly less tunable parameters than a full-order controller. This type of problem can be formulated under the theoretical and general framework of non convex and non smooth programming. Among the efficient numerical techniques to solve such non smooth problems, we have in this work opted for bundle methods, suitably extended to address non-convex optimization programs. Bundle methods use oracles which at every iterate x return the function value and one unspecified Clarke subgradient. In order to generate descent steps away from a current serious iterate, these techniques hinge on storing and accumulating information, called the bundle, obtained from successive evaluations of the oracle along the unsuccessful trial steps. In this thesis, we propose to build the bundle by shifting down a tangent of the objective at a trial step which is not a satisfactory descent step. The shift is essential in the non convex case in order to preserve the consistency, named also the exactitude, of the model with regard to the objective. The developed algorithm is validated on a synthesis problem combining the automatic pilot and the flight control law of a civil aircraft at a given flying point ; and a gain scheduled control law synthesis for the longitudinal control in a flight envelope.
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Architecture de contrôle hybride pour systèmes multi-robots mobiles / Hybrid control architecture for mobile multi-robot systemsBenzerrouk, Ahmed 18 April 2011 (has links)
La complexité inhérente à la coordination des mouvements d'un groupe de robots mobiles est traitée en investiguant plus avant les potentialités des architectures de contrôle comportementales dont le but est de briser la complexité des tâches à exécuter. En effet, les robots mobiles peuvent évoluer dans des environnements très complexes et nécessite de surcroît une coopération précise et sécurisée des véhicules pouvant rapidement devenir inextricable. Ainsi, pour maîtriser cette complexité, le contrôleur dédié à la réalisation de la tâche est décomposé en un ensemble de comportements/contrôleurs élémentaires (évitement d'obstacles et de collision entre les robots, attraction vers une cible, etc.) qui lient les informations capteurs (provenant de caméras, des capteurs locaux du robot, etc.) aux actionneurs des différentes entités robotiques. La tâche considérée est la navigation en formation en présence d'obstacles (statiques et dynamiques). La spécificité de l'approche théorique consiste à allier les avantages des architectures de contrôle comportementales à la méthode de la structure virtuelle où le groupe de robots mobiles suit un corps virtuel avec une dynamique (vitesse, direction) donnée. Ainsi, l'activation d'un comportement élémentaire en faveur d'un autre se fait en respectant les contraintes structurelles des robots (e.g. vitesses et accélérations maximales, etc.) en vue d'assurer le maximum de précision et de sécurité des mouvements coordonnés entre les différentes entités mobiles. La coopération consiste à se partager les places dans la structure virtuelle de manière distribuée et de façon à atteindre plus rapidement la formation désirée. Pour garantir les critères de performances visés par l'architecture de contrôle, les systèmes hybrides qui permettent de commander des systèmes continus en présence d'évènements discrets sont exploités. En effet, ces contrôleurs (partie discrète) permettent de coordonner l'activité des différents comportements (partie continue) disponibles au niveau de l'architecture, tout en offrant une analyse automaticienne rigoureuse de la stabilité de celle-ci au sens de Lyapunov. Chaque contribution est illustrée par des résultats de simulation. Le dernier chapitre est dédié à l'implémentation de l'architecture de contrôle proposée sur un groupe de robots mobiles Khepera III. / Inherent difficulty of coordinating a group of mobile robots is treated by investigating behavior-based architectures which aim to break task complexity. In fact, multi-robot navigation may become rapidly inextricable, specifically if it is made in hazardous and dynamical environment. The considered task is the navigation in formation in presence of (static and dynamic) obstacles. To overcome its complexity, it is proposed to divide the overall task into two basic behaviors/controllers (obstacle avoidance, attraction to a dynamical target). Applied control is chosen among these controllers according to sensors information (camera, local sensors, etc.). Theoretic approach combines behavior-based and the virtual structure strategy which considers the formation as a virtual body with a given dynamic (velocity, direction). Thus, activating a controller or another is accomplished while respecting structural robots constraints (e.g. maximal velocities and accelerations). The objective is to insure the highest precision and safety of the coordinated motion between the robots. These ones cooperate by optimizing the way of sharing their places in the formation in order to form it in a faster manner. To guarantee performance criteria of the control architecture, hybrid systems tolerating the control of continuous systems in presence of discrete events are explored. In fact, this control allows coordinating (by discrete part) the different behaviors (continuous part) of the architecture. A complete analysis of this architecture stability is also given thanks to Lyapunov-based theory. Every contribution is illustrated through simulation results. The last chapter is devoted to the implementation of the proposed control architecture on a group of Khepera III robots.
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Sistemas de controle e nova arquitetura para diferencial eletrônico em veículos de passeio convencionais a combustão convertidos em veículos híbridos 4x4 / Control systems and new architecture to electric differential systems on internal combustion engine passenger vehicles converted to 4x4 hybrid electric vehiclesRafael Coronel Bueno Sampaio 30 September 2011 (has links)
Este trabalho apresenta três sistemas de controle distintos para a atuação em sistemas de tração elétrica traseira em veículos de passeio convencionais convertidos em VEHs (Veículos Elétricos Híbridos) 4x4, enfocando o desenvolvimento de um sistema diferencial eletrônico (SDE). As principais arquiteturas de veículos híbridos são apresentadas. O SDE, que atua em tempo de execução nas velocidades angulares dos pneumáticos traseiros em manobras variadas, depende dos sinais de esterçamento e aceleração impostos pelo condutor, considerando as modelagens cinemática e dinâmica do veiculo no cálculo dos valores de referência para o controlador. Controladores PID modificado, neurofuzzy baseado em inteligência artificial e um H-Infinito ótimo são projetados e detalhados. Uma nova arquitetura para o SDE é proposta e apresentada, visando a utilização de sistemas de controle robustos no problema do SDE, traçando-se um paralelo entre o seu desempenho e das arquiteturas convencionais quando o controlador H-Infinito ótimo assume o controle do SDE. O projeto e o desenvolvimento de um mini-VEH, a plataforma HELVIS (Hybrid ELectric Vehicle In low Scale), são apresentados. A implementação de um simulador veicular denominado HELVIS-SIM, inspirado na plataforma HELVIS, é também apresentada. O SDE, que compreende a arquitetura proposta e os controladores, são embarcados e também implementados no HELVIS-SIM. Resultados simulados obtidos no HELVIS-SIM são analisados. Testes experimentais do SDE na plataforma HELVIS são apresentados, considerando apenas testes de bancada sem o contato dos pneumáticos com o solo. / This work presents the development of three distinct control systems to rear electric traction control on conventional touring vehicles converted on 4WD (four-wheel drive) hybrid electric vehicles (HEVs), focusing on the design of a EDS (Electronic Differential System). Main HEV architectures are presented. The EDS controls the rear wheels angular speeds as the driver inputs steering and acceleration commands, considering both dynamic and kinematic models of the vehicle and so the actuators on the calculus of the desired rear angular speeds. One modied PID controller, one AI (Articial Intelligence) based controller and one robust optimal H \'infinite\' controller are designed and outlined. A new EDS architecture is proposed and presented, aimming the use of robust controllers to the EDS problem, comparing the use of the H \'infinite\' optimal controller to conventional EDS architectures. The design of a mini-HEV, the HELVIS (Hybrid ELectric Vehicle In low Scale) platform is also presented. The implementation of a parametric vehicular simulator, the HELVIS-SIM, is discussed. The EDS, which represents the controllers and the proposed architecture, is evaluated on the HELVIS platform and on the HELVIS-SIM. Simulated results are rst run in the HELVIS-SIM. Experimental results of the EDS tests are presented exclusively considering the evaluation on a bench test, without any contact of the platform with the pavement.
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Aktionsprimitiv-basierte Steuerungsarchitektur für Anwendungen in der Robotik und FertigungstechnikHennig, Matthias, Janschek, Klaus 13 February 2012 (has links)
Der vorliegende Beitrag stellt einen Entwurf für eine flexible und robuste Steuerungsarchitektur für Roboter- und Fertigungssysteme vor. Dabei wurde versucht ein offenes Konzept zu realisieren, welches einen vereinfachten Engineeringprozess ermöglicht. Hierzu wird innerhalb der Steuerung eine Trennung zwischen einem funktionellen verhaltensbasierten und einem ablauforientierten Modell vorgeschlagen. Dieser Ansatz wird durch die Verwendung von Aktionsprimitiven innerhalb einer hybriden Robotersteuerung ermöglicht. Diese garantieren durch ihre ausgeprägte Modularität eine hohe Flexibilität und Erweiterbarkeit des entstandenen Systems. Im Beitrag wird sowohl der entstandene Entwurf diskutiert als auch eine prototypische objektorientierte Implementierung vorgestellt sowie erste Ergebnisse präsentiert. / This paper presents a framework for a flexible and robust control architecture for robotic systems. The design incorporates an application independent system concept which allows a simplified engineering process. For this purpose a distinction between a functional behavioural and a sequential control system model is proposed. This approach is based on the utilisation of action primitives within a hybrid control architecture. The use of these primitives affords a high level of modularity through increasing flexibility and expandability of the resulting system. In this paper the proposed framework will be discussed as well as a prototypical object-oriented implementation and first results.
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Design and control of collaborative, cross and carry mobile robots : C3Bots / Conception et commande des robots mobiles, manipulateurs, collaboratifs et tous terrainsHichri, Bassem 05 October 2015 (has links)
L'objectif du travail proposé est de concevoir et commander un groupe des robots mobiles similaires et d'architecture simple appelés m-bots (mono-robots). Plusieurs m-bots ont la capacité de saisir ensemble un objet afin d'assurer sa co-manipulation et son transport quelle que soit sa forme et sa masse. Le robot résultant est appelé p-bot (poly-robot) et est capable d'effectuer des tâches de déménageur pour le transport d'objets génériques. La reconfigurabilité du p-bot par l'ajustement du nombre des m-bots utilisés permet de manipuler des objets lourds et des objets de formes quelconques (particulièrement s'ils sont plus larges qu'un seul m-bot). Sont considérés dans ce travail l'évitement d'obstacle ainsi que la stabilité du p-bot incluant la charge à transporter. Une cinématique pour un mécanisme de manipulation a été proposée et étudiée. Ce dernier assure le levage de la charge et son dépôt sur le corps des robots pour la transporter. Plusieurs variantes d'actionnement ont été étudiées : passif, avec compliance et actionné. Un algorithme de positionnement optimal des m-bots autour de l'objet à manipuler a été proposé afin d'assurer la réussite de la tâche à effectuer par les robots. Cet algorithme respecte le critère de "Force Closure Grasping" qui assure la stabilité de la charge durant la phase de manipulation. Il maintient aussi une marge de stabilité statique qui assure la stabilité de l'objet durant la phase de transport. Enfin, l'algorithme respecte le critère des zones inaccessibles qui ne peuvent pas être atteintes par les m-bots. Une loi de commande a été utilisée afin d'atteindre les positions désirées pour les m-bots et d'assurer la navigation en formation, durant la phase du transport, durant laquelle chaque robot élémentaire doit maintenir une position désirée par rapport à l'objet transporté. Des résultats de simulation pour un objet de forme quelconque, décrite par une courbe paramétrique, sont présentés. Des simulations 3D en dynamique multi-corps ainsi que des expériences menées sur les prototypes réalisés ont permis de valider nos propositions. / Our goal in the proposed work is to design and control a group of similar mobile robots with a simple architecture, called m-bot. Several m-bots can grip a payload, in order to co-manipulate and transport it, whatever its shape and mass. The resulting robot is called a p-bot andis capable to solve the so-called "removal-man task" to transport a payload. Reconfiguring the p-bot by adjusting the number of m-bots allows to manipulate heavy objects and to manage objects with anyshape, particularly if they are larger than a single m-bot. Obstacle avoidance is addressed and mechanical stability of the p-bot and its payload is permanently guaranteed. A proposed kinematic architecture for a manipulation mechanism is studied. This mechanism allows to lift a payload and put it on them-bot body in order to be transported. The mobile platform has a free steering motion allowing the system maneuver in any direction. An optimal positioning of the m-bots around the payload ensures a successful task achievement without loss of stability for the overall system. The positioning algorithm respects the Force Closure Grasping (FCG) criterion which ensures the payload stability during the manipulation phase. It respects also the Static Stability Margin (SSM) criterion which guarantees the payload stability during the transport. Finally, it considers also the Restricted Areas (RA) that could not be reached by the robots to grab the payload. A predefined control law is then used to ensure the Target Reaching (TR) phase of each m-bot to its desired position around the payload and to track a Virtual Structure (VS), during the transportation phase, in which each elementary robot has to keep the desired position relative to the payload. Simulation results for an object of any shape, described by aparametric curve, are presented. Additional 3D simulation results with a multi-body dynamic software and experiments by manufactured prototypes validate our proposal.
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The RHIZOME architecture : a hybrid neurobehavioral control architecture for autonomous vision-based indoor robot navigation / L’architecture RHIZOME : une architecture de contrôle neurocomportementale hybride pour la navigation autonome indoor des robots mobiles reposant sur la perception visuelleRojas Castro, Dalia Marcela 11 January 2017 (has links)
Les travaux décrits dans cette thèse apportent une contribution au problème de la navigation autonome de robots mobiles dans un contexte de vision indoor. Il s’agit de chercher à concilier les avantages des différents paradigmes d’architecture de contrôle et des stratégies de navigation. Ainsi, nous proposons l’architecture RHIZOME (Robotic Hybrid Indoor-Zone Operational ModulE) : une architecture unique de contrôle robotique mettant en synergie ces différentes approches en s’appuyant sur un système neuronal. Les interactions du robot avec son environnement ainsi que les multiples connexions neuronales permettent à l’ensemble du système de s’adapter aux conditions de navigation. L’architecture RHIZOME proposée combine les avantages des approches comportementales (e.g. rapidité de réaction face à des problèmes imprévus dans un contexte d’environnement dynamique), et ceux des approches délibératives qui tirent profit d’une connaissance a priori de l’environnement. Cependant, cette connaissance est uniquement exploitée pour corroborer les informations perçues visuellement avec celles embarquées. Elle est représentée par une séquence de symboles artificiels de navigation guidant le robot vers sa destination finale. Cette séquence est présentée au robot soit sous la forme d’une liste de paramètres, soit sous la forme d’un plan. Dans ce dernier cas, le robot doit extraire lui-même la séquence de symboles à suivre grâce à une chaine de traitements d’images. Ainsi, afin de prendre la bonne décision lors de sa navigation, le robot traite l’ensemble de l’information perçue, la compare en temps réel avec l’information a priori apportée ou extraite, et réagit en conséquence. Lorsque certains symboles de navigation ne sont plus présents dans l’environnement de navigation, l’architecture RHIZOME construit de nouveaux lieux de référence à partir des panoramas extraits de ces lieux. Ainsi, le robot, lors de phases exploratoires, peut s’appuyer sur ces nouvelles informations pour atteindre sa destination finale, et surmonter des situations imprévues. Nous avons mis en place notre architecture sur le robot humanoïde NAO. Les résultats expérimentaux obtenus lors d’une navigation indoor, dans des scenarios à la fois déterministes et stochastiques, montrent la faisabilité et la robustesse de cette approche unifiée. / The work described in this dissertation is a contribution to the problem of autonomous indoor vision-based mobile robot navigation, which is still a vast ongoing research topic. It addresses it by trying to conciliate all differences found among the state-of-the-art control architecture paradigms and navigation strategies. Hence, the author proposes the RHIZOME architecture (Robotic Hybrid Indoor-Zone Operational ModulE) : a unique robotic control architecture capable of creating a synergy of different approaches by merging them into a neural system. The interactions of the robot with its environment and the multiple neural connections allow the whole system to adapt to navigation conditions. The RHIZOME architecture preserves all the advantages of behavior-based architectures such as rapid responses to unforeseen problems in dynamic environments while combining it with the a priori knowledge of the world used indeliberative architectures. However, this knowledge is used to only corroborate the dynamic visual perception information and embedded knowledge, instead of directly controlling the actions of the robot as most hybrid architectures do. The information is represented by a sequence of artificial navigation signs leading to the final destination that are expected to be found in the navigation path. Such sequence is provided to the robot either by means of a program command or by enabling it to extract itself the sequence from a floor plan. This latter implies the execution of a floor plan analysis process. Consequently, in order to take the right decision during navigation, the robot processes both set of information, compares them in real time and reacts accordingly. When navigation signs are not present in the navigation environment as expected, the RHIZOME architecture builds new reference places from landmark constellations, which are extracted from these places and learns them. Thus, during navigation, the robot can use this new information to achieve its final destination by overcoming unforeseen situations.The overall architecture has been implemented on the NAO humanoid robot. Real-time experimental results during indoor navigation under both, deterministic and stochastic scenarios show the feasibility and robustness of the proposed unified approach.
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