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Introduction to robotics for hydrographers
Luc Jaulin, Lab-STICC, ENSTA-Bretagne, UBO Moqesm Brest, Oct 11, 2016
Introduction to robotics for hydrographers
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What is a robot ?
Introduction to robotics for hydrographers
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A robot is a mechanical system equipped with actuators, sensors and a brain.
Introduction to robotics for hydrographers
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Saucisse (ENSTA Bretagne)
Introduction to robotics for hydrographers
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Vaimos at the WRSC (ENSTA Bretagne-IFREMER) F. Le Bars, O. Ménage, P. Rousseau (Vaimos in Angers)
Introduction to robotics for hydrographers
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A robot is a dynamical system
Introduction to robotics for hydrographers
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A dynamical system can be written as [Newton 1690]
x ˙ = f (x) .
Introduction to robotics for hydrographers
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Example: The pendulum
x ˙ 1 = x 2
˙
x 2 = − sin x 1 .
Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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A robot is a vehicle
Introduction to robotics for hydrographers
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A vehicle is a controlled mechanical system x ˙ = f (x,u) .
Introduction to robotics for hydrographers
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Example. Dubin’s car (1957).
˙
x = cos θ
˙
y = sin θ θ ˙ = u with u ∈ [−1,1] .
Introduction to robotics for hydrographers
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Dubin’s paths
Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Simulation (Euler, 1770)
x ˙ = f (x,u) ∼ x(t + dt ) = x(t) + dt · f (x(t),u(t))
Introduction to robotics for hydrographers
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A robot is an intelligent vehicle
Introduction to robotics for hydrographers
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A robot is a vehicle with actuators, sensors, and a brain
˙
x = f (x,u) (évolution) y = g (x) (observation) u = h (y) . (contrôle) We have
˙
x = f (x,h (g (x))) = ψ (x) and thus a robot is a dynamical system.
Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Why do we need robots ?
Introduction to robotics for hydrographers
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Brest-Douarnenez. January 17, 2012
Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Ocean satellites ?
Introduction to robotics for hydrographers
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Robots are needed for dirty, dangerous and dull jobs
Introduction to robotics for hydrographers
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Curiosity
Introduction to robotics for hydrographers
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About 3,600 satellites in orbit (1,000 are operational).
In the ocean, we have gliders, drifting buoys.
In the ocean, a robot could be autonomous in energy, and could survive for years (persistent autonomy).
Introduction to robotics for hydrographers
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Montrer Vaimos dans l’océan Atlantique.
Introduction to robotics for hydrographers
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An example (with CGG)
Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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A robot x ˙ = f(x).
Example: The Van der Pol system x ˙ 1 = x 2
˙
x 2 = 1 − x 1 2
· x 2 − x 1
Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Reachable set
Introduction to robotics for hydrographers
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Introduction to robotics for hydrographers
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Middle of Atlantique ocean, 350 km made by Vaimos, sept. 6-9, 2012.
Introduction to robotics for hydrographers
