Pour limiter le temps et le coût de développement de nouveaux produits, l’industrie a besoin d’outils pour concevoir, tester et valider le produit avec des prototypes virtuels. Ces prototypes virtuels doivent permettre de tester le produit à toutes les étapes du Product Lifecycle Management (PLM). Beaucoup d’opérations du cycle de vie du produit impliquent la manipulation par un humain des composants du produit (montage, démontage ou maintenance du produit). Du fait de l’intégration croissante des produits industriels, ces manipulations sont réalisées dans un environnement encombré. La Réalité Virtuelle (RV) permet à des opérateurs réels d’exécuter ces opérations avec des prototypes virtuels. Ce travail de recherche introduit une nouvelle architecture de planification de trajectoire permettant la collaboration d’un utilisateur de RV et d’un système de planification de trajectoire automatique. Cette architecture s’appuie sur un modèle d’environnement original comprenant des informations sémantiques, topologiques et géométriques. Le processus de planification automatique de trajectoire est scindé en deux phases. Une planification grossière d’abord exploitant les données sémantique et topologiques. Cette phase permet de définir un chemin topologique. Une planification fine ensuite exploitant les données sémantiques et géométriques détermine un trajectoire géométrique dans le chemin topologique défini lors de la planification grossière. La collaboration entre le système de planification automatique et l’utilisateur de RV s’articule autour de deux modes : en premier lieu, l’utilisateur est guidé sur une trajectoire pré-calculée à travers une interface haptique ; en second lieu, l’utilisateur peut quitter la solution proposée et déclencher ainsi une re-planification. L’efficacité et l’ergonomie des ces deux modes d’interaction est enrichie grâce à des méthodes de partage de contrôle : tout d’abord, l’autorité du système automatique est modulée afin de fournir à la fois un guidage prégnant lorsque l’utilisateur le suit, et plus de liberté à l’utilisateur (un guidage atténué) lorsque celui-ci explore des chemins alternatifs potentiellement meilleurs. Ensuite, lorsque l’utilisateur explore des chemins alternatifs, ses intentions sont prédites (grâce aux données géométriques associées aux éléments topologiques) et intégrées dans le processus de re-planification pour guider la planification grossière. Ce mémoire est organisé en cinq chapitres. Le premier expose le contexte industriel ayant motivé ces travaux. Après une description des outils de modélisation de l’environnement, le deuxième chapitre introduit le modèle multi-niveaux de l’environnement proposé. Le troisième chapitre présente les techniques de planification de trajectoire issues de la robotique et détaille le processus original de planification de trajectoire en deux phases développé. Le quatrième introduit les travaux précurseurs de planification interactive de trajectoire et les techniques de partage de contrôle existantes avant de décrire les modes d’interaction et les techniques de partage de contrôle mises en œuvre dans notre planificateur interactif de trajectoire. Enfin le dernier chapitre présente les expérimentations menées avec le planificateur de trajectoire et en analyse leurs résultats. / To save time and money while designing new products, industry needs tools to design, test and validate the product using virtual prototypes. These virtual prototypes must enable to test the product at all Product Lifecycle Management (PLM) stages. Many operations in product’s lifecycle involve human manipulation of product components (product assembly, disassembly or maintenance). Cue to the increasing integration of industrial products, these manipulations are performed in cluttered environment. Virtual Reality (VR) enables real operators to perform these operations with virtual prototypes. This research work introduces a novel path planning architecture allowing collaboration between a VR user and an automatic path planning system. This architecture is based on an original environment model including semantic, topological and geometric information. The automatic path planning process split in two phases. First, coarse planning uses semantic and topological information. This phase defines a topological path. Then, fine planning uses semantic and geometric information to define a geometrical trajectory within the topological path defined by the coarse planning. The collaboration between VR user and automatic path planner is made of two modes: on one hand, the user is guided along a pre-computed path through a haptic device, on the other hand, the user can go away from the proposed solution and doing it, he starts a re-planning process. Efficiency and ergonomics of both interaction modes is improved thanks to control sharing methods. First, the authority of the automatic system is modulated to provide the user with a sensitive guidance while he follows it and to free the user (weakened guidance) when he explores possible better ways. Second, when the user explores possible better ways, his intents are predicted (thanks to geometrical data associated to topological elements) and integrated in the re-planning process to guide the coarse planning. This thesis is divided in five chapters. The first one exposes the industrial context that motivated this work. Following a description of environment modeling tools, the second chapter introduces the multi-layer environment model proposed. The third chapter presents the path planning techniques from robotics research and details the two phases path planning process developed. The fourth introduce previous work on interactive path planning and control sharing techniques before to describe the interaction modes and control sharing techniques involved in our interactive path planner. Finally, last chapter introduces the experimentations performed with our path planner and analyses their results.

Este trabalho aborda o problema de planejamento de caminhos em robótica móvel autônoma utilizando campos potenciais. Dentre as várias técnicas de campos potenciais para controlar robôs, encontram-se as técnica de Campos Potenciais de Khatib1 (CP), Campo Potencial Harmônico (CPH), Campo Potencial Orientado (CPO) e Campo Potencial Localmente Orientado (CPLO). As técnicas CPH, CPO e CPLO são chamadas de técnicas baseadas em Problema de Valor de Contorno (PVC), pois são obtidas a partir de soluções de Equações Diferenciais Parciais (EDP) Elípticas em uma determinada condição de contorno, é obtido um sistema planejador de caminhos. Tais técnicas necessitam de uma etapa de solução de sistemas lineares, na qual se utiliza métodos iterativos, decorrentes da aplicação do método de diferenças finitas como solucionador das EDP. No presente trabalho, as técnicas de Campos Potenciais baseados em PVC foram estudadas e implementadas (usando processamento sequencial e paralelo), de modo a obter resultados de forma mais rápida e confiável. Foram utilizadas arquiteturas paralelas do tipo manycore. Finalmente, são feitas análises comparativas entre os vários métodos implementados. Todos os métodos estão prontos para serem incorporados tanto no simulador quanto nos times de robôs em desenvolvimento pelo grupo Warthog Robotics / This works details the task o path planning in autonomous mobile robots using potential fields techniques. Among potential fields techniques to control robots, there are Khatibs Potential Field2 (KPF), Harmonic Potential Field (HPF), Oriented Potential Field (OPF) and Locally Oriented Potential Field (LOPF). The HPF, OPF and LOPF techniques are called Boundary Value Problem (BVP) based, bacause they are obtained from numerical solutions of Elliptic Partial Differential Equations (PDE) in a well-defined boundary condition. These techniques go through a step of solving linear systems, in which is used iterative methods, that came from numerical solution of PDE. In this work, potential fields BVP based was studied and coded (using sequential and parallel architectures), to obtain results more quickly and reliably. And, finally, a comparative analyses of the various methods implemented are made. All methods are ready to be incorporated in the intelligent systens that are being developed by Warthog Robotics

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This master thesis deals with the planning of the robot's path using selected graph algorithms of artificial intelligence. The theoretical part describes the basic methods of planning a robot's path. It is related to the graph algorithm more closely. The practical part deals with implementation of selected graph algorithms, creation of simulation environment in Python, description and evaluation of experiments.

Master thesis is dedicated to path planning in uncertain environment focusing on AO* methods. In practical part it focuses on designing and implementation of own solving method for searching And/Or graph. To perform comparative experiments it was created a simulation program, which allows to test implemented algorithms.

This master thesis deals with path planning for multiple mobile robots. The theoretical part describes robot navigation -- mapping and path planning. Selected methods of artificial intelligence used in multi-robot path planning are described. In practical part simulator is implemented, in which selected algorithms were compared using experiments.

This thesis presents a comprehensive framework and a study for trajectory optimization based on the patterned formation flying of the aircraft system as well as the maneuvers for deforming the configured and aligned aerial vehicles with safe mode criteria considerations while subjected to typical environmental requirements of aerial-flying zones. The elementary trajectory problem of a simple dynamical point-mass system of the aircraft is mathematically formulated and converted into a simulation version of mathematical programming as finite horizon planning and fixed arrival time planning strategies as an optimization problem. The methodology of the designed framework is mainly concerned with the safer path planning of the aircraft system with testing on all the probable feasibility and safety constraints to incorporate into a mathematical programming design of a collision-free and optimal trajectory characterization. The imperative notion is to create a configurational pattern of the aircraft system based on their creation of wingtip vortices. Flying the aircraft in formation lessen the fuel consumption as well as increase the time efficiency. The aircraft formation is arranged and optimized for safe trajectories during flight operations and for reduction of the carbon footprint of the whole system. Furthermore, deformation maneuvers are incorporated to complete the aircraft planning system by allowing the possibility of safely disassembling the formation for emergency breakout and exit sequences.

This thesis describes work in a variety of topics related to aerial robotics, including system identification, state estimation, control, and path planning. The path planners described in this thesis are used to guide a fixed-wing UAV along paths that optimize the aircraft's ability to track a ground target. Existing path planners in the literature either ignore occlusions entirely, or they have limited capability to handle different types of paths. The planners described in this thesis are novel in that they specifically account for the effect of occlusions in urban environments, and they can produce a much richer set of paths than existing planners that account for occlusions. A 3D camera positioning system from Motion Analysis is also described in the context of state estimation, system identification, and control of small unmanned rotorcraft. Specifically, the camera positioning system is integrated inside a control architecture that allows a quadrotor helicopter to fly autonomously using truth data from the positioning system. This thesis describes the system architecture in addition to experiments in state estimation, control, and system identification. There are subtleties involved in using accelerometers for state estimation onboard flying rotorcraft that are often ignored even by researchers well-acquainted with the UAV field. In this thesis, accelerometer-rotorcraft behavior is described in detail. The consequences of ignoring accelerometer-rotorcraft behavior are evaluated, and an observer is presented that achieves better performance by specifically modeling actual accelerometer behavior. The observer is implemented in hardware and results are presented.

This thesis deals with analyses of problems of path planning by means Rapidly-exploring Random Trees (RRT) algorithm. The teoretic part described of basic terms and navigation mobile robots. There are localization, mapping and path planning parts of navigation. Then it is description overview of localization of methods and overview of robot path planning methods. The practical describes implementation of proposed method in Delphi. The best method for path planning of robot using RRT algorithm. For reservation universal communications interface is application creation like dynamic library.

This work is dedicated to robot path planning with using principles of dynamic programing in discrete state space. Theoretical part is dedicated to actual situation in this field and to principle of applying Markov decission process to path planning. Practical part is dedicated to implementation of two algorithms based on MDP principles.