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Rozprawy doktorskie na temat „Robots de terrain”

Autor: Grafiati
Data publikacji: 21 grudnia 2024
Data aktualizacji: 31 lipca 2025

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1

Iagnemma, Karl Dubowsky S. "Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers /." Berlin ; New York : Springer, 2004. http://www.loc.gov/catdir/toc/fy0606/2004106986.html.

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Caurin, Glauco Augusto de Paula. "Control of walking robots on natural terrain /." [S.l.] : [s.n.], 1994. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=10898.

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FAHMI, AHMED MOHAMED SHAMEL BAHAAELDEEN. "On Terrain-Aware Locomotion for Legged Robots." Doctoral thesis, Università degli studi di Genova, 2021. http://hdl.handle.net/11567/1045132.

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Legged robots are advancing towards being fully autonomous as can be seen by the recent developments in academia and industry. To accomplish breakthroughs in dynamic whole-body locomotion, and to be robust while traversing unexplored complex environments, legged robots have to be terrain aware. Terrain-Aware Locomotion (TAL) implies that the robot can perceive the terrain with its sensors, and can take decisions based on this information. The decisions can either be in planning, control, or in state estimation, and the terrain may vary in geometry or in its physical properties. TAL can
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Häselich, Marcel [Verfasser]. "Markov random field terrain classification for autonomous robots in unstructured terrain / Marcel Häselich." Koblenz : Universitätsbibliothek Koblenz, 2015. http://d-nb.info/1064986544/34.

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Guedes, Magno Edgar da Silva. "Vision based obstacle detection for all-terrain robots." Master's thesis, FCT - UNL, 2009. http://hdl.handle.net/10362/3650.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores<br>This dissertation presents a solution to the problem of obstacle detection in all-terrain environments,with particular interest for mobile robots equipped with a stereo vision sensor. Despite the advantages of vision, over other kind of sensors, such as low cost, light weight and reduced energetic footprint, its usage still presents a series of challenges. These include the difficulty in dealing with the considerable am
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Alves, Nelson Miguel Rosa. "Vision based trail detection for all-terrain robots." Master's thesis, Faculdade de Ciências e Tecnologia, 2010. http://hdl.handle.net/10362/5015.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores<br>Esta dissertação propõe um modelo para detecção de trilhos baseado na observação de que estes são estruturas salientes no campo visual do robô. Devido à complexidade dos ambientes naturais, uma aplicação directa dos modelos tradicionais de saliência visual não é suficientemente robusta para prever a localização dos trilhos. Tal como noutras tarefas de detecção, a robustez pode ser aumentada através da modulação da computa
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Elanjimattathil, Vijayan Aravind. "Dynamic Locomotion of Quadrupedal Robots over Rough Terrain." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-240409.

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Previous works have enabled locomotion of quadrupedal robots usingthe ZMP-based motion optimization framework on flat terrain withvarious gait patterns. Locomotion over rough terrain brings in newchallenges such as planning safe footholds for the robot, ensuring kinematicstability during locomotion and avoiding foot slippage over roughterrain etc. In this work, terrain perception is integrated into the ZMPbasedmotion optimization framework to enable robots to perform dynamiclocomotion over rough terrain.In a first step, we extend the foothold optimization framework touse processed terrain info
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8

Vijaykumar, R. "Motion planning for legged locomotion systems on uneven terrain /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487335992904418.

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9

Weiss, Christian. "Self-Localization and terrain classification for mobile outdoor robots /." München : Verl. Dr. Hut, 2009. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=017311174&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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Ward, Christopher Charles. "Terrain sensing and estimation for dynamic outdoor mobile robots." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/42419.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.<br>Includes bibliographical references (p. 120-125).<br>In many applications, mobile robots are required to travel on outdoor terrain at high speed. Compared to traditional low-speed, laboratory-based robots, outdoor scenarios pose increased perception and mobility challenges which must be considered to achieve high performance. Additionally, high-speed driving produces dynamic robot-terrain interactions which are normally negligible in low speed driving. This thesis presents algorithms for estimating
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11

Kang, Shinwoo 1976. "Terrain parameter estimation and traversability assessment for mobile robots." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/42830.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.<br>Includes bibliographical references (leaves 65-68).<br>The estimation of terrain characteristics is an important missions of Martian exploration rovers. Since only limited resources and human supervision are available, efficient and autonomous method of estimation are required. In this thesis, an on-line estimation method of two important terrain parameters, cohesion and internal friction angle, is developed. The method uses onboard rover sensors and is computationally efficient. Terrain parameter e
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12

Emmanuel, Thierry. "Planification robuste et navigation de robots mobiles tout terrain." Montpellier 2, 1995. http://www.theses.fr/1995MON20136.

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Ce memoire de these traite de la planification robuste et adaptative des deplacements de plusieurs robots mobiles sur terrain inegal et evolutif. L'objectif est de fournir au systeme de navigation un ensemble d'itineraires et de consignes de commande (vitesse et cap), autorisant la modification rapide du plan en cas de variations imprevues et importantes des parametres du vehicule ou du terrain. Tout d'abord, les voies de deplacement possible sont issues d'une combinaison de plusieurs types discretises de modelisations du terrain (mnt, courbes de niveau, triangulation), a laquelle on associe u
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13

ANDRADE, BARROSO GUILLERMO ENRIQUE. "Modelisation et adaptation du mouvement de robots tout-terrain." Paris 6, 2000. http://www.theses.fr/2000PA066013.

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L'objectif du travail de recherche presente dans ce memoire est la modelisation de la locomotion des vehicules en vue de definir de nouvelles architectures mecaniques et des commandes adaptees a la conduite tout-terrain. Nous nous interessons aux vehicules se deplacant sur un terrain naturel et dans le cadre de l'exploration planetaire. Cependant, les resultats qui sont etablis sont transposables a d'autres types de vehicules tout-terrain. Cette recherche utilise un robot mobile poly-articule de type marsokhod et un terrain naturel. Ce robot possede six roues rigides motorisees sur trois essie
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14

Pannu, Rabindra. "Path Traversal Around Obstacles by a Robot using Terrain Marks for Guidance." University of Cincinnati / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1312571550.

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15

Thüer, Thomas. "Mobility evaluation of wheeled all-terrain robots : metrics and application /." Zürich : ETH, 2009. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=18160.

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16

Kirmizigul, Ugur. "Design Of A Mobile Robot To Move On Rough Terrain." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/2/12606814/index.pdf.

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In this thesis work, a mobile robot is designed to be used in search and rescue operations to help the human rescue workers. The difficult physical conditions in the ruins obstruct the movement. Therefore, it is aimed to design a search and rescue robot which can move easily on rough terrain and climb over the obstacles. The designed robot is made up of three modules. A connecting unit is designed that is situated between each module. This connecting unit which is composed of two universal and one revolute joint gives 5 DOF relative motions to the modules. On the other hand, the wheel&rsquo<br
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17

Chung, Tae-Sang. "Force and compliance control for rough-terrain locomotion by multi-legged robot vehicles /." The Ohio State University, 1985. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487262825077357.

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18

Stelzer, Annett [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Approaches to efficient visual homing of mobile robots in rough terrain." Freiburg : Universität, 2016. http://d-nb.info/1124004769/34.

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19

Tennakoon, Kulatunga Mudiyanselage Eranda Bandara. "Probe-before-step gait framework for multi-legged robot locomotion over terrains with risk of collapse." Thesis, Queensland University of Technology, 2021. https://eprints.qut.edu.au/209311/1/Kulatunga%20Mudiyanselage%20Eranda%20Bandara_Tennakoon_Thesis.pdf.

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In many risky tasks such as search and rescue, it is often safer and cost-effective to send robots in place of humans. Multi-legged robots are good at traversing rough terrain, but handling terrain deformations is still a challenge. This thesis proposes a framework allowing multi-legged robots to safely probe the terrain using their legs and test it for subsidence before walking. Two new robot motion control algorithms were introduced that enabled the subsequent development and implementation of two new crawling gaits for hexapod robots. Thanks to this method, the robot can walk safely on dang
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20

Kul, Mustafa Cihangir. "Design, Development And Manufacturing Of An All Terrain Modular Robot Platform." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/3/12611858/index.pdf.

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The aim of this thesis is to create a flexible multi-purpose modular all terrain robot platform, which has the potential to be used in commercial applications as well as in education and research. In developing this robot platform, it is aimed to use readily available commercial products as much as possible in order to keep the cost of the product low, increase maintainability, and benefit from the improvements made to these components in time. The modularity is attained by designing a two wheeled base module which is autonomous on its own. This base module is composed of two wheels where, the
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21

Huskić, Goran [Verfasser]. "Control of Outdoor Robots at Higher Speeds on Challenging Terrain / Goran Huskić." München : Verlag Dr. Hut, 2018. http://d-nb.info/1172582076/34.

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22

Michaluk, Nathaniel. "Design methods for cost-effective teams of mobile robots in uncertain terrain." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/92068.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Cataloged from student-submitted PDF version of thesis.<br>Includes bibliographical references (pages 59-62).<br>Conducting planetary exploration missions with mobile robots is expensive, with costs ranging from hundreds of millions to billions of dollars. Developing reliable robots to work remotely on rough, uncertain terrain is imperative for the
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23

Golda, Dariusz 1979. "Modeling and analysis of high-speed mobile robots operating on rough terrain." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/89384.

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Rocheleau, Simon-Guy. "Petit robot marcheur : plateforme tout-terrain (PROMPT)." Thesis, Université Laval, 2010. http://www.theses.ulaval.ca/2010/26968/26968.pdf.

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25

Khan, Yasir Niaz [Verfasser], and Andreas [Akademischer Betreuer] Zell. "Visual Terrain Classification for Outdoor Mobile Robots / Yasir Niaz Khan ; Betreuer: Andreas Zell." Tübingen : Universitätsbibliothek Tübingen, 2013. http://d-nb.info/1162844027/34.

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26

Rzepniewski, Adam K. (Adam Kamil) 1976. "Motion planning for high-speed and kinematically reconfigurable mobile robots in rough terrain." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/89330.

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Manaoui, Francis Olivier. "Étude et simulation d'algorithmes de navigation pour robots mobiles autonomes sur terrain inégal." Montpellier 2, 1988. http://www.theses.fr/1988MON20242.

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Le travail de recherche a pour objectif de definir et simuler le fonctionnement d'un navigateur pour robots mobiles autonomes sur sol irregulier. Une analyse bibliographique met en evidence les grands principes de la navigation. Les problemes specifiques des robots evoluant en exterieur sont formalises. On propose alors une modelisation du terrain basee sur la polygonation des courbes de niveaux. Dans l'espace de recherche associe on definit un algorithme de recherche des deplacements elementaires. On propose ensuite une methode de determination du temps de parcours minimal, en fonction des ca
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Manaoui, Francis Olivier. "Etude et simulation d'algorithmes de navigation pour robots mobiles autonomes sur terrain inégal." Grenoble 2 : ANRT, 1988. http://catalogue.bnf.fr/ark:/12148/cb37615664p.

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Schalit, Emmanuel. "Navigation autonome d'un robot mobile en terrain accidenté." Toulouse 3, 1994. http://www.theses.fr/1994TOU30191.

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Ce memoire presente une approche originale dans le domaine de la navigation autonome en terrain accidente. Il a pour but d'aborder certaines des difficultes rencontrees par cette branche de la robotique. Nos travaux reposent sur des algorithmes simple et rapides, qui operent sur des cartes robocentriques construites a partir de perceptions des capteurs embarques. Les niveaux inferieurs de notre architecture ne modelisent que tres grossierement l'environnement, mais reposent sur une frequence elevee du cycle de perception-planification pour obtenir de reelles capacites de navigation. Ces niveau
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30

Martin, Steven C. "Proprioceptive sensing of traversability for long-term navigation of robots." Thesis, Queensland University of Technology, 2018. https://eprints.qut.edu.au/117074/1/Steven_Martin_Thesis.pdf.

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Mobile robots performing repetitive tasks are often required to expend the bulk of the robot's available energy on mobility. This thesis examines how mobile robot navigation can be optimised when performing repeated long-term tasks in environments with unknown spatial-varying driving characteristics. This work develops techniques that allow mobile robots to sense terrain, estimate traversability using proprioceptive sensors and build maps that enable planning of minimum energy tours.
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Valenzuela, Andrés Klee. "Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/103432.

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Thesis: Sc. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Cataloged from student-submitted PDF version of thesis.<br>Includes bibliographical references (pages 79-84).<br>Planning dynamic motions for a legged robot entails addressing both the continuous question of how its joints should move and the combinatorial question of which hand or foot should touch which surface and in what order. Fortunately, t
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Huskic, Goran [Verfasser], and Andreas [Akademischer Betreuer] Zell. "Control of Outdoor Robots at Higher Speeds on Challenging Terrain / Goran Huskic ; Betreuer: Andreas Zell." Tübingen : Universitätsbibliothek Tübingen, 2018. http://d-nb.info/117271634X/34.

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Brunner, Michael Verfasser], Christopher [Akademischer Betreuer] [Schlick, and Frank [Akademischer Betreuer] Flemisch. "Rough Terrain Motion Planning for Actively Reconfigurable Mobile Robots / Michael Brunner ; Christopher Schlick, Frank Flemisch." Aachen : Universitätsbibliothek der RWTH Aachen, 2015. http://d-nb.info/1156536324/34.

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Brunner, Michael [Verfasser], Christopher [Akademischer Betreuer] Schlick, and Frank [Akademischer Betreuer] Flemisch. "Rough Terrain Motion Planning for Actively Reconfigurable Mobile Robots / Michael Brunner ; Christopher Schlick, Frank Flemisch." Aachen : Universitätsbibliothek der RWTH Aachen, 2015. http://d-nb.info/1156536324/34.

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35

Fagegaltier, Laurent. "Planification multichemin pour les déplacements d'un véhicule tout-terrain." Montpellier 2, 1994. http://www.theses.fr/1994MON20027.

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Ce memoire de these traite la planification robuste et adaptative des deplacements d'un robot mobile sur terrain inegal. L'objectif est de fournir au systeme de navigation un ensemble de chemins et de lois de vitesse, pour permettre la modification rapide eventuelle du plan en cas de variations imprevues et importantes des parametres du vehicule et du terrain. Tout d'abord, le reseau des routes possibles est issu d'une representation discrete du terrain, et on lui associe un graphe des changements d'etats. Ensuite, la vitesse de progression est calculee a partir des caracteristiques du vehicul
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Sistiaga, Marc. "Navigation référencée images de terrain pour engins sous-marins." Montpellier 2, 2000. http://www.theses.fr/2000MON20103.

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La navigation referencee images de terrain est un procede de positionnement qui permet la localisation du vehicule dans une carte globale representant la zone de travail. Pour cela, l'engin est equipe de capteurs a partir desquels il peut creer une image de son environnement local. Cette image locale est comparee a une image globale de terrain prealablement mise en memoire. Si une correspondance est trouvee, le vehicule peut calculer sa position et son orientation dans la zone cartographiee. Cette these presente une methode complete de navigation referencee images de terrain pour engins sous-m
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Pech, Thomas Joel. "A Deep-Learning Approach to Evaluating the Navigability of Off-Road Terrain from 3-D Imaging." Case Western Reserve University School of Graduate Studies / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1496377449249936.

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Kwak, Se-Hung. "A computer simulation study of a free gait motion coordination algorithm for rough-terrain locomotion by a hexapod walking machine /." The Ohio State University, 1986. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267024996975.

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39

Livianu, Mathew Joseph. "Human-in-the-loop neural network control of a planetary rover on harsh terrain." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26576.

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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.<br>Committee Chair: Dr. Ayanna Howard; Committee Member: Dr. Patricio Vela; Committee Member: Dr. Yoria Wardi. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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40

Tidd, Brendan. "Learning visuo-motor behaviours for robot locomotion over difficult terrain." Thesis, Queensland University of Technology, 2022. https://eprints.qut.edu.au/235891/1/Brendan%2BTidd%2BThesis%281%29.pdf.

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This thesis investigated efficient methods for learning locomotion behaviours for robots, and the challenges of combining several complex controllers. Experiments were performed with a dynamic biped in simulation required to walk across gaps, over steps and stairs, and jump over hurdles and blocks, and also in a real-world scenario with a large tracked platform negotiating small doorways. The developed solutions utilised perception to perform complex maneuvers while minimising retraining for new behaviours. Ideas from this thesis lead toward scalable behaviour libraries to enable robots to mak
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41

Brooks, Douglas Antwonne. "Control of reconfigurability and navigation of a wheel-legged robot based on active vision." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26545.

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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.<br>Committee Chair: Howard, Ayanna; Committee Member: Egerstedt, Magnus; Committee Member: Vela, Patricio. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Sebastian, Bijo. "Traversability Estimation Techniques for Improved Navigation of Tracked Mobile Robots." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/94629.

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The focus of this dissertation is to improve autonomous navigation in unstructured terrain conditions, with specific application to unmanned casualty extraction in disaster scenarios. Robotic systems are being widely employed for search and rescue applications, especially in disaster scenarios. But a majority of these are focused solely on the search aspect of the problem. This dissertation proposes a conceptual design of a Semi-Autonomous Victim Extraction Robot (SAVER) capable of safe and effective unmanned casualty extraction, thereby reducing the risk to the lives of first responders. In a
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43

Baleia, José Rodrigo Ferreira. "Haptic robot-environment interaction for self-supervised learning in ground mobility." Master's thesis, Faculdade de Ciências e Tecnologia, 2014. http://hdl.handle.net/10362/12475.

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Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores<br>This dissertation presents a system for haptic interaction and self-supervised learning mechanisms to ascertain navigation affordances from depth cues. A simple pan-tilt telescopic arm and a structured light sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback. The system aims at incrementally develop the ability to assess the cost of navigating in natural environments. For this purpose the robot learns a mapping between the appearance of objects, give
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44

Moignard, Christophe. "Planification et génération de mouvements en terrain inégal pour véhicule autonome à moteur thermique." Montpellier 2, 1992. http://www.theses.fr/1992MON20125.

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Ce memoire de these decrit une methode de planification de mouvements a temps minimal pour un vehicule autonome tout-terrain a moteur thermique, considere comme ponctuel sur une surface comportant des irregularites de relief, de resistance a l'avancement et de risque. Le relief du terrain est modelise par triangulation dynamique a partir des courbes de niveau et de points et lignes caracteristiques: cols, ponts, routes, cretes, etc. Des coefficients de mobilite, traduisant la nature du sol, et des coefficients de risque, traduisant les menaces, sont attribues aux elements de la triangulation.
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45

Fillatreau, Philippe. "Localisation et modélisation tridimensionnelles pour un robot mobile autonome tout terrain." Phd thesis, Université Paul Sabatier - Toulouse III, 1994. http://tel.archives-ouvertes.fr/tel-00261834.

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CETTE THESE TRAITE DU PROBLEME DE LA LOCALISATION DANS UN ENVIRONNEMENT TRIDIMENSIONNEL (3D) D'UN ROBOT MOBILE AUTONOME, AINSI QUE DE CELUI DE LA MODELISATION DE TERRAIN. DEUX DOMAINES TYPIQUES D'APPLICATION DE CE TRAVAIL SONT LA ROBOTIQUE MOBILE D'INTERVENTION (SECURITE CIVILE,) ET L'EXPLORATION PLANETAIRE. LA CONTRIBUTION DE LA THESE SE SITUE SURTOUT AU NIVEAU DE LA LOCALISATION D'UN ROBOT DANS UN ENVIRONNEMENT SEMI-STRUCTURE OU NON STRUCTURE. UN ETAT DE L'ART CONCERNANT D'UNE PART LES PRINCIPAUX CAPTEURS UTILISABLES, ET D'AUTRE PART LA MODELISATION, EST PRESENTE. L'ACCENT EST MIS SUR LES CA
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46

Seegmiller, Neal A. "Dynamic Model Formulation and Calibration for Wheeled Mobile Robots." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/460.

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Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally mobile. To fully exploit this mobility, WMR planning, control, and estimation systems require motion models that are fast and accurate. Much of the published theory on WMR modeling is limited to 2D or kinematics, but 3D dynamic (or force-driven) models are required when traversing challenging terrain, executing aggressive maneuvers, and manipulating heavy payloads. This thesis advances the state of the art in both the formulation and calibration of WMR models We present novel WMR model formulations that are high-f
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Morlans, Richard. "Génération des trajectoires d'un robot d'exploration planétaire utilisant un modèle numérique de terrain issu d'images prises par satellite." Montpellier 2, 1992. http://www.theses.fr/1992MON20119.

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Ce memoire de these decrit un systeme de generation de trajectoires pour robot mobile d'exploration de la planete mars a partir de modeles numeriques du terrain (m. N. T. ) issus d'images supposees prises par un orbiteur. Le m. N. T. Est d'abord filtre pour supprimer le bruit specifique au modele. Des points (cols) et lignes (talwegs) privilegies pour le deplacement du robot sont extraits automatiquement du m. N. T. Les cols sont detectes par une analyse de chaque point du m. N. T. Et de son voisinage. Les talwegs sont ensuite construits a partir de ces cols par application de regles heuristiq
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Deremetz, Mathieu. "Contribution à la modélisation et à la commande de robots mobiles autonomes et adaptables en milieux naturels." Thesis, Université Clermont Auvergne‎ (2017-2020), 2018. http://www.theses.fr/2018CLFAC079/document.

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Les problématiques de recherche abordées dans cette thèse concernent la conceptualisation, la modélisation et la commande générique des robots mobiles lors de leur évolution en milieux extérieurs et en présence de glissement pour des applications de suivi de précision. Ainsi, ce mémoire synthétise dans un premier temps les développements et résultats obtenus lors du suivi de trajectoire (localisation absolue), puis synthétise ensuite ceux obtenus lors de suivi de structure et de cible (localisation relative). Une dernière partie introduit un concept de plateforme robotique reconfigurable et sa
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Tremblay, Jean-François, and Jean-François Tremblay. "Forest inventory with a lidar-equipped robot for difficult environments." Master's thesis, Université Laval, 2019. http://hdl.handle.net/20.500.11794/37634.

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La foresterie est une industrie majeure dans plusieurs parties du monde. Elle dépend de l’inventaire forestier, qui consiste en la mesure des attributs des arbres. Dans ce mémoire, nous proposons l’utilisation de la cartographie 3D, basée sur l’algorithme itervative closest point, pour automatiquement mesurer des diamètres d’arbres à partir d’observations d’un robot mobile. Bien que des études précédentes démontraient le potentiel d’une telle technologie, elles présentaient des lacunes en terme de rigueur d’analyse et ne fonctionnaient pas dans des environnements forestiers difficiles. Nous av
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Denis, Dieumet. "Contribution à la modélisation et à la commande de robots mobiles reconfigurables en milieu tout-terrain : application à la stabilité dynamique d'engins agricoles." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22565/document.

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La thématique étudiée dans ce mémoire est axée sur la préservation de la stabilité dynamique de véhicules évoluant en environnement naturel. En effet, la mobilité en milieu tout-terrain est une activité particulièrement pénible et dangereuse en raison de la nature difficile de l'environnement de conduite et de la reconfigurabilité des machines. Le caractère changeant et incertain des interactions rencontrées entre des véhicules à dynamique complexe et variable et leur environnement entraîne régulièrement des risques accrus de renversement et/ou de perte de contrôle (dévalement, dérapage déclen
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