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Commande d'engins volants par asservissement visuel

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(1)Commande d’engins volants par asservissement visuel Odile Bourquardez. To cite this version: Odile Bourquardez. Commande d’engins volants par asservissement visuel. Robotique [cs.RO]. Université Rennes 1, 2008. Français. �tel-00844952�. HAL Id: tel-00844952 https://tel.archives-ouvertes.fr/tel-00844952 Submitted on 16 Jul 2013. HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés..

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(99) %&11G©™ —G©# !1GH«# —­%&#¨ k 0m×n °

(100) %&11G©™ —“D#šHš© /# — GH°s 1G© m × n ∼ = #¨“%&š§õ=D# "™1­%&! "°«D#šH1G  šHG©™û%&1GH$m  ¸ ' # !$!GH‹¨“%&š . ö & GH Ł1G© D#ûöD D  1G© D#Áõý !$!GH × #  ­%& D#E#  Q D#GH3$m ™1G© š R¨ ™ 1¥¢ [w]× &°

(101) %&11G©™ j#  £¢  ! D#GHA$m ™1G© š8%­!™G©j%&Dý$m ™ D# w =  (w1 , w2 , w3 )  0 −w3 w2 – õú¢ˆ GH [ šHš© D [w]× u = w×u  D#D#k$m ™ D# u ª [w]× =  w3 0 −w1  −w2 w1 0 |u| °s! D#š© « DT$m ™ D# u |u| $%&š© D#Á%&F­šHD "# u ™ x ™1GH“DE# x ö cos x ™ p x #™1GH“DÁ# x öõ=š¶%  D#G©­­%&™ p ö (cos x)p  x #1GH“DÁ# x ö sin x  px 1GH“DE# x öõ=š¶%  D#G©­­%&™ p ö (sin x)p – j š© —°«F# "GH°

(102) %&¨GH8%&GH " š D j 2 = −1.

(103) µ. ï. î]ð†¶@ò. ª—%&t™ 1 E1·¸ ömDtD#1GHšHG©X  !1G© šHš© °s “jš© _D##GHX DþôQ1¸°s 3GH“ 18%&1G©8%&šA  ¨i° ª ö •  G©1­%&™ Á ÷°s¸1 q. ¨iC ° ·& ª ö • $QGH  3 T°s¸1   %&E ™#   %  ™  ™   © š   ­  & % 1G ©     ×  . ÷  s °  ¸ 1  .  & % 3    .  ™   # /%&D ™û%&1 . ¨iC ° ·& 2 ª ö •  & % #   ¨ © š . —  . ‹  ­   %.  ¶ G & %    ‡ i ¨ ­   %  7 ö

(104) õ + š   £. # É  ™. 1G ©    #  . ¬   ™   # D 1  7 F. —# «D#šH­%&ûöR ¸‹š+    “. • ª š© E%&#¨š© Á ÷# ¨  ¨n# ¨ ª ö#°

(105) %&G©Á™ š¶%M 1E%&š©‚GH G – Dö. ¨i­%f ·& ª Ê • $QGH  E%&#¨D#š¶%&GH Á ÷­% G¶%&  %&3 ™#C ¯  %&“ûöR  %8%&D#1G – D ö8GHš] 1‚·8%&F#GH1D š] D#1GHšHG© Á˜%&D#1 3D##GH« •  G©1­%&™ E$m 11G©™û%&š© E   G© #q¨KÅn ª – •  G©1­%&™ E·1GHüû“­%&š© × ÷°MGHšHš© —°

(106) %&1GHköD÷8%&D#1G D ¨ ® ª ö • $QGH  ¬$m 11G©™û%&š© «   G©   %&3°MGH“D# ™¨KÅi¹·ú°MGH ª ö –  º¬D†  ¨iÍQ ª öDT°MGHšHš© —8%&D#1G D  %&‚· D# Ê • $QGH  ¬·1GHüû“­%&š© = TW ¦]%M™1   %&™ / “1 «™ E# D ɍ1ô 1¸°s 3 D##GH« 1‚š¶%M1D#GH$%&“ s • 1 Ån» 0.3048 °÷ö ® » 1852 °÷ö • 1 ¼  » 0.508 C ° ·&ûö • 100 Ån¹·ú°MGHƒ Q Í » ° C & · û  Ê • 1 0.514. i.

(107)

(108) ½. 0 ¦. • • • • • •. òóò -. î5ë}é. Ÿ. ù #ùE#GH$m GH %&1G©8%&š© «ŸED11­%&šHG© # ™¨¿¾<À ÁÃÂÄAžƿÇjÈÊÉÇËRÌÍÇj¾ÉÎËÇÈ

(109) ÏeËWÉ<ÐÁ‰Æ¹Å¹É¾Ñ ª Ÿ×æ ¯ @ ž j1ôQ¸°s ‹# ™°M°

(110) %&# # ‹$mš«%&D#°

(111) %&1G – D Ò¨ÓÂÄ$¾ÓÎjÔxÇ^¾ÉՃ֑È×ÉdØÀ(¾RÙÚÎËf¾ÆÛÎÈ Ü Ñž'Á‰Ô. ª ¯ [ 㠟·&¦k›1ž µ ¯ °M°MG©­%&1G¶%&=õVš+ •  1¨G©

(112) Ÿj°MG – D ök¦]%&F7­%&GH s› “¨­%&1G©Ë#  ž!ô 1¸°s 3 E#  µ ™·#š©¨G©  # 'š ¨n ª #ª¬ ¨^ ¨n ª ª× «¦GHFR 1 ™û%&°s­% ¯‚¯ ª- Q™û%&°s­%ý#“jš© יû%   D#  ·¨­%  ·#G – D " X# Áˆô  ¯‚¯ ªÝ¨"ÙeÀ$ÇÆØAÁ‰Þ ÙÚÎÄGßÈzÁÛà‡á±Á‰ÐÉÕrÁö8# ™ D#×õM™D  š¶%&¨m "# "™­·8%&1¨m ª ™û%&°s­% ¯ Œ ® —žþ &™û%&°s­%¬#!Aš© ‚™û%   D#  ·¨­%  ·#G – D E 1A# t ô  ¯ ®©—ž¨"ÙÚÎjÔ±Þ. ßÈzÁ‰Ô Á‰Ëf¾ÓÇjÆ¹Ñ â©Á¾ÓÇȑã‘äÉàAÁ Ü Á‰Ô£É<ÞåÕÎjËàÄ9Õ"¾ÓÎÆ ª – Ü • ª"žQÌ  • Q™  D#3# «1GH¨8– %&š“D#°s1G D C¨ÓáÍÉ ØjÉ<¾ÓÇÈ É ØjËÇÈæ*ÆÛÎÕrÁ¹Å¹ÅÎÆ ª • ã[Ì[æ5¦r ™š© «Ì‘šHôQ ™·##G D «æ5#– ­%&š© «# —¦]%&D %&#. ä • æ # ™°M°

(113) %&# /# ¬$mš]– š© ™11G D ¨ÓÖ7ÈÊÑÞçsÑÞXèÉ<ÆÛÁ ª Ü • ÿ¬Ÿ—ž‹ 1­%&F#GHšHGH«%ô!°  1G D —¨š©F8%&š© ¨éêÈdÎAëÛÇÈ¡ÂìŹÑÔßO¾ÓÎj¾ÉÕ ¾ÓÇAë‰É<ÈÊÉ¾Ñ ª Ü • ÿ¬Ìtžó ¨m  1GH1G©– # °s !  %&Á­%& šHšHGH ¨éêÈdÎAëÛÇÈOæsÎŹÉ¾ÉÎjËWËWÉ<Ë(Ø ÑXž'Á‰Ô ª • ø×ær 8ø×%&D# —æ# D ™. ä  ž‹ % 1$QG© °s !3$QG©1D š]ƪí¨Óî¹Ô‡ÇØAÁ‰ÞçŠÇÅÁÛà•ïaÉSŹÄ9ÇÈ Ü Á‰Æ¹ÐÎÉSË$Ø • › " ª – • ›¥ mž š¶%&FR­%&GH «›ˆ Ł1°

(114) %&1G D öRž!GH¨8%&D ÉT ¬ž!ôQ1¸°s  Ü • ›¦§ž #1ô 1¸°s —˜%&1 11G©­%&¨m =%&D ÉVGH11D#°s “£¨Óî¹Ë9ʼn¾ƉÄ(Ô Á‰Ë¾?ð~ÇjËàÉ<Ë(Ø ÑXž'Á‰Ô ª • ›®ù #™ “1­%&š© «GH 11G© šHš© C¨Óî¹ËOÁ‰Æ¾ÉÇÈ¡â©ÁÛÇʼnÄ(ÆÁ‰Ô – Á‰Ëf¾±ÏeËWÉ<¾ ª • ›œE›1žQŸ- › 11GH1D#3# "œÁ ™· ™· / ÷›ˆ Ł1°

(115) %&1G D " מ!ô 1¸°s 3ŸÁš©û%&GH  µ fî¹Ë9ʼn¾É¾Ä ¾ÓÎ Ü ÄGß9Á‰Æ‰ÉÎƙñÚòÛÕËfÉÕÎ • ›1ž µ¦ ›× 81ôQ¸°s ¬šHGHû%&GH " 3GH“$%&1G¶%&“×%&‚š© — °  q¨ÓðÚÉSË¡ÁÛÇƙñeÉ<Ô ÁŠî¹ËWÐXÇjƹÉÇËf¾ • – – ª ó œ¾ k™°M°

(116) %&#   1GH°

(117) %&š© ö5% # š© V%&D1G_™°M°

(118) %&# þšHGHû%&GH D8% ­%&1G D

(119) ¦eóל • ¦e× ¨ÓðÚÉSËOÁÇƇôêÄ ÇAàÆ¿Ç^¾ÉÕõsÁØjÄ(ÈdÇj¾ÓÎÆ ª – ¯ •     §F#GHF#šHG©1·¸ D ¨­%&1D#GH T˜%&8%&šHô  V GH°

(120) %&¨m s =# V$QG©1G©  %&ý GH8%& D# ¨‰ãeß9Á‰ËÒÙÚÎÔßÄ ¾'Á‰Æ>ï~ÉöʼnÉÎjËð4ÉÓë‰ÆÛÇÆ‰Ñ ª ä " Ì  ž % 1$QG© °s !3$!G©D š] ªÝ¨ÓæsÎÅ"Á‰ÞçŠÇÅ"ÁÛàÒï~ÉöÅ‰Ä ÇjÈ Ü Á‰Æ‰ÐXÎÉ<Ë(Ø ª • ¯ 8 GH8%& D#  # š7¨ÓæsÁ‰Æ¹ÅÎËOÇÈyÙÚÎÔßÄ ¾'Á‰Æ • Ì ª ¯. =›ˆ! 18%&1G©8%&š§# ¯ šHš¶%&F7­%&1G© žQ™G© !1G  – D. • Ì[› ž #ÌA¨­%&°M°s – ä  ™G© šHš©  • œEF7 û% œs 1G D « 3ãA“1GHןE11G 8 ä 

(121) × ×µ 1G© D# E œ   ! F m $   H š H G “  =  s œ   § ¦ & % “  ¬    › • • ùן] #  öD – #¨GH÷$mš¶%&!Á­%&  GHš© ™¨Ï]ËWԇÇËfËOÁÛà£ÂŠÁ‰Æ‰ÉÇjÈïWÁ¹ÀAÉÕÈzÁ ª  GKžQÌ jF#GHF#šHG©1·¸ D ¨­%&1D#GH # G© }õvš+˜%­ 1$!G©­ °s “÷$QG©1D š ¨jï~ÉöÅ‰Ä ÇÈ Ü ÁƹÐXÎjÉSË(Ø • ×. ÄÄ.

(122) ÄûÆ. ÷êo®G¹mXd. • . æêÈ Çj¾ ø"ÎÆ‰Ô ª µ ×  ¦  #¨GHs$mš¶%&!_™û% ã¡úûÇËà£ð~ÇËOàÉSË$Ø ª.  %&F#š© 3# ‚#™šHš© _ [˜%&1 11GH[$m 11G©™û%&š© °s !èjïWÁƉ¾ÉÕÇÈ?ñÇùÁ.

(123) üTï¼ð}믦¼2þý. írð}î4¦¾ï. ¯  ™ $mGH—# EF7¬%&D#°s × ×GH“ šHšHGH¨m !ף%&GH¬% # š5õ

(124) # «°«F# D É#°

(125) %&GH   £É  11G© Êk® %&1G© šHš© °s “ûö§  D#" GH – Dk D#óF7" 1"  !1G© šHš© °s “/™1GH1Ds#.  G©¸™ M°s™û%&#G – D 

(126) s# T™û%&1 sš© ™1#G – D ûÊ[ª¬ M™û%   D#

(127) ## !þ%&D F7s# MGH ¢ Ån1°

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