Perception multisensorielle pour la localisation d'un robot mobile en environnement extérieur, application aux véhicules routiers

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HAL Id: tel-00692034

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Perception multisensorielle pour la localisation d’un

robot mobile en environnement extérieur, application

aux véhicules routiers

Jean Laneurit

To cite this version:

Jean Laneurit. Perception multisensorielle pour la localisation d’un robot mobile en environnement

extérieur, application aux véhicules routiers. Automatique / Robotique. Université Blaise Pascal

-Clermont-Ferrand II, 2006. Français. �NNT : 2006CLF21658�. �tel-00692034�

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F? S TR V ? y t ghfkg s~kej{ tefmtfk{~{ e { if{ mikj{ {f eg mtkg g hjkg htg{kg x { s~kej{ {gf {esgf ge{ he f efkjk{~{ tg{ j kg e{fk mm mvg ftg{hf kg{hfkg e h~tfkg f hesgf f ht fkejkmgf t thf~{ { kgfsgfkg{ g gskggmgf {fkj x g skk lejle{ mhj{ jt ifkle tkj ts j tefmtfk{tfkg { gkg{ ~jf jt ifkle {sk he j ftg{hf j gffvt e jt {eskjjtg { jte g mkjke ttjkmgftkkg e{fkj {hkftjk xxx j{ ftste heijk{ ts jt ghfkg gkg{ tgfk tefmtfk{~{ jt ifkle g mkjke {fkj lek kgfskgf g htfkejk tg{ j mtkg gej~tk he jt {eskjjtg f jt mtkgfgtg { gftj{ gej~tk{ Y ggtk{{tg f tfthk { gkste t ktfkg j tk te ~mtgfjmgf e t{{tkgk{{mgf { {kf{ t ktfk|{ x e le fj{ s~kej{ hek{{gf |gfkgg kj {f g~{{tk ~jti { {v{ fm{ hhfkg{ jtjk{tfkg hjtgktfkg ftufk e g mmtg x y tkffe |gfkggjj Y | e x { s~kej{ hef f ~mh{~ g e f { jt f gtsktfkg f jt f jtjk{tfkg x y t f gtsktfkg { ~mh{ jjmm g fk{ m ej{ eg m ej hjtgktfkg ftufk lek tjej eg kfkg~tk jtj {e{ jt |m hkgf{ ht{{t {jg eg {fkgtfkg ~gk ht eg h~tfe emtkg eg m ej ek t lek tjej j{ g{kg{ skf{{ f th f lek hmf te s~kej {eks eg ftufk g kgfhjtgfj{ hkgf{ tjej~{ ht j m ej hjtgktfkg eg m ej mmtg lekt he|gfkg t{{skjmhfmgfkg~mtfkle e s~kej {e j{ stje{ g{kg{ ~fmkg~{ ht j m ej ek t etgf jt f jtjk{tfkg jj eh eg h{kfkg ftg{s{ t jj g~{{tk fe{ j{ m ej{ jt f gtsktfkg x gf tef jj je |egkf k ~gf{ kg |mtfkg{ {e j mhfmgf e s~kej tg{ {g gskggmgf mm {t h{kfkg e {t kg~mtfkle Y th ejk{ ftgt tkg{k le skf{{ ~hjtmgf x gg he ~tjk{ j{ f { gtsktfkg tkg{k le jt f jtjk{tfkg kj {f ikg { g~{{tk ggtf j gskggmgf

e s~kej lek {f j hje{ {esgf

gg~ ht eg tf hjtgtk jekk x

(17)

:;6GMH[;JG:

Planifaction

Guidage

Commande

Localisation

Carte de

l’environnement

Position

Position, attitude

& vitesse

Attitude

& vitesse

Destination finale &

Contrainte temporelle

Points de passage &

Profile vitesse

Cap & vitesse

de consigne

Commandes de vitesse

& de direction

Actionneurs

Navigation

Fusion

d’informations

filtre de Kalman

ou

filtre particulaire

capteurs

x kffe |gfkggjj eg s~kej tefmtfk{~ }g if mikj {f ~g~tjmgf ge he fe eg ftkg gmi f { le j g hef hef jt{{ g |gfkg e fvh gskggmgf tg{ jlej kj ~sje Y mk

jke {fefe~ e {mk{fefe~ gskggmgf gtfej

xxx e ~ ggtk{{tg f gskggmgf {g ttf ~sjefk| Y i{ftj{ { e mikj{ e g e mtkg thhjktfkg he jlej j s~kej t ~f~ ge x g stg {{ h|mtg{ {gf ~fkfmgf jk~{ jt h~k{kg jt tikjkf~ f te fmh{ ~hg{ { thfe{ f { m~f { mk{{ g es he jtjk{ j s~kej x ftstkj f{ { h{kfkgg tefe e hijm jtjk{tfkg f gftmmgf {e j ~jtitfkg eg {v{fm jtjk{tfkg {e{hfkij |egk { kg|mtfkg{ h~k{{ f tij{ g se e gfj eg s~kej tg{ eg gskggmgf efk x y t ghfkg g {v{fm t ~u ~f~ ti ~ f htfkjjmgf~{je g ifkle tkj e g tg{ jt ghfkg gkg{ tgfk tefmtfk{~{ x tg{ { t{ j{ thh{ jtjk{tfkg { it{gf g ~g~tj {e jt mikgtk{g kg|mtfkg{ hsgtgf {v{ fm{ h{kfkggmgf ht {tfjjkf{fj{ le j{ k ~gfkj{e kg~mtfkle{ f {v{fm{ kgfkj{ tef h~k{kg x hg tgf j{ gftkgf{ e mg tefmikj

(18)

:;6GMH[;JG: |tkjkf~ mk{ g es tikjkf~ f ie{f{{ { {v{fm{ mitle~{ tg{ j{ s~kej{ mhgf j efkjk{tfkg fjj{ thh{ x g f j{ k ~gfkj{ e kg~mtfkle{ g ~hg gf teeg { gftkgf{ kj{ {gf { je mk{ g es {f jtfksmgf mhjkle~ Y g~{{kf~ tsk eg {ftfkg it{ h kmkf~ e s~kej kj{ {gf he tij{ Y

{tfjjkf{ {esgf mt{le~{ g mkjke eitkg

g{ x etgf te {v{fm{ kgfkj{ tef h~k{kg kj{ {gf e fh { f {esgf fh kkj{ ~ftjgg he hesk f mitle~{ tg{ eg s~kej efk x kg{k j{ thh{ k{ftgf{ jtjk{tfkg h~k{ ~jti~{ tg{ jt mmegtef~ jt ifkle mikj g {gf le he gjkg{ f efkjk{~{ tg{ j mg tefmikj x ff f{ h~{gf eg {v{fm jtjk{tfkg~hg tgf teg {gftkgf{ x {v{fm { it{ {e jt mikgtk{g kg|mtfkg{ hsgtgf eg g{mij thfe{ hhkhfk|{ f f~hfk|{ |tkij{f{ fj{ le eg gtfejeg mf f eg vmf fgjk ww eg {v{fm sk{kg tkg{k le eg tf h~k{ j gskggmgf efk xy {v{fm sk{kg g thhj~ thfe sk{kg hmf jtjk{ h~k{~mgf j s~kej {e jt te{{~ {f k ggtf {t h{k fkg jtf~tj f {g kgftfkg {e jt ef jtjk{ j s~kej tg{ j mg g fetgf eg mk{ g {hg tg ts jt tf j gskggmgf efk f g |egk eg kg|mtfkg jtjk{tfkg g tgf ts j x e tstgft{ kmhftgf{ ~{ejfgf j efkjk{tfkg thfe tm~jk jt h~k{kg e {v{fm thfe{ hhkhfk|{ it{ f{ h mfftgf thh j{ h|mtg{ eg {v{fm mikgtgf k ~gfkj{ f {v{fm kgfkj tef h~k{kg tm~jktfkg jt ie{f{{ f jt tikjkf~ e {v{fm g {ehhj~tgf j j{le j kgf~kf~ {{ kg|mtfkg{ {f mk{ g te{ g htfkejk tg{ j{ g{ eitkg{ g{{ j hef f mk{ g ~|tef ht j{ ejftfkg{ { {tfjjkf{ hsle~{ ht j{ i fkmgf{j{ feggj f xxx m~mk { ksk{ g e htfk{ te lejj{ { tuefgf j{ tgg { x y t hmk htfk { ~mh{ g fk{ thkf{ x }g hmk thkf {gf h~ {gf~{ j{ ks{{ m~f {

h{kfkggmgf j{ hje{ {esgf e{kf~{

tg{ j mtkg jt ifkle mikj {tsk j{ m~f { h{kfkgggf ti{je j{ m~f { h{kfkggmgf jtfk| f gg j{ m~f { h{kfkggmgf vik { lek mikggf j{ e h~~ gf{ x y thh hh{~ tg{ ff f{ {f eg m~f h{kfkg gmgf fvh vik jj g~{{kf g jt mk{ g hjt eg {v{fm |e{kg gg~{ he mikg j{ kg|mtfkg{ hsgtgf k ~gf{ thfe{ mitle~{ tg{ j s~kej x e jt j jft itv~{kg t ~f~ fgej{ hkgkh{ g {gf h~{gf~{ tg{ j e km thkf j tgf {f {efef mk{ {e j jf tjmtg f j jf w

(19)

r :;6GMH[;JG: |~gf{ jf{ htfkejtk{ he j{ m~f { gem~kle{ x mm j{ jf{ tjmtg {gf hek{ jgfmh{ ikg ~gk{ eg {kmhj thhj {f fe~ tg{ m~mk x g stg j{ jf{ w gf~ tj f gftmmgf j{ jf{ htfkejtk{ ts kgftfkg gf j{ ftste {gf g ~gf{ {gf hje{ ~ftkjj~{ tg{ thkf x gg he {h~ ~tjk{ eg jft hfkmtjkj {f g~{{tk ttf~k{ te mke j{ kg|mtfkg{ efkjk{~{ f g htfkejk je ttf {ft{fkle j gk thkf ff htfk h~{gf j{ k ~gf{ mtgk{ ttf~k{ hek{ m ~jk{ j{ kg|mtfkg{ {f t{fkle{ mm jt m ~jk{tfkg te{{ w t sjt m ~jk{tfkg ef~{{ks f xxx y t {g htfk t{{mij j g{mij { ~sjhhmgf{ kkgte ff f{ x y letfkm thkf ti j k { k ~gf{ thfe{ he gf thh j tjk{tfkg vik tkg{k le jt ttf~k{tfkg je{ kg|mtfkg{ je{ kgfkfe { f je mhfmgf fmhj x ftmmgf thkf kg{k{f {efef {e jt ttf~ k{tfkg f jt m ~jk{tfkg { kgfkfe { { kg|mtfkg{ hsgtgf e vmf f e gf j mhfmgf{ft{fkle {ff{ {esgf g~jk~ tg{ fjj{ thhjkt fkg{ tkg{k le {e jt {khfkg ~ftkjj~ e thfe vik sk{kg x e m~f { jft{ itv~{kg{ gf ~f~ fge{ he ~tjk{jt mikgtk{g{ kg|mtfkg{hsgtgf { ks{{thfe{ j jf tjmtg ~fg e fj jf htfkejtk~g~fkle x kg{k j kglekm f j {k km thkf h~{gfgf {hfksmgf jt mk{ g es gf thh jtjk{tfkg ts teg { e jf{ tkg{k le gmie ~{ejftf{ tff{ftgf jt stjk kf~ { thh{ x gg m~mk { fmkg g

ggtgf lejle{ gje{kg{ f h{hfks{ {e

ftstkj

(20)

C Q > Q T4 U>S Q

(21)

(22)

@43 XQ 1 O T43 T4 O 3 VQ V O ??4 4? Q g ifkle mikjkj k{f fk{ m~f { k ~gf{ h{kfkggmgf x Y < KG [<KJ8<;JG: 69K<;J9 j ~hjtmgf jtfk| e s~kej {f ~fmkg~ ht kgf~tfkg{ {e{{ks{ kg|mtfkg{ ~kstgf jt kg~mtfkle e s~kej {f k j{ mh {tgf{ skf{{ f t~j~tfkg {jg eg tffkfe kkg gge e s~kej x Y < KG[<KJ8<;JG: <I8GKH9 j{ thfe{ |egk{{gf { kg|mtfkg{ hmfftgf ~fmkg kfmgf jt h{kfkg e if tg{ eg ~|~gfkj gg~ Y ~|~gfkj ~ ~{kle he j h{kfkggmgf ht j ~|~gfkj jt tf { tm{ sk{ej{ he j h{kfkggmgf ht sk{kg f xxx x f gg Y K9 5G8J;JG::99:; I6JM9 j if {f jtjk{~ g mikgtgf j{ m~f { h{kfkggmgf jtfk| f h{kfkg gmgf ti{je tm~jktgf tkg{k jt jtjk{tfkg e s~kej g mhg{tgf j{ k ~gf{ hijm{ ggf~{ tg{ j{ e m~f { h~~ gf{ Y ~ks{ jg fm jt h{kfkg e s~kej he j h{kfkggmgf jtfk| f j{ hijm{ ejftfkg{ he j h{kfkggmgf ti{je x g stg jt mikgtk{g { kg|mtfkg{ ijk jt mk{ g es h{{e{ |e{kg gg~{ ~tjk{~{ g ~g~tj ht { m~f { jft itv~{kg x }g ~fe ikijkthkle { k ~gf{ m~f { st f h~{gf~ tg{ j{ fk{ htkg{ {fkg{ x + `%%$ y h{kfkggmgf jtfk| hef f jek mm ~mh{~ g fk{ tf~k{ j h {kfkggmgf ht m~fk j h{kfkggmgf kgfkj f j h{kfkggmgf jtfk| v ik tg{jlej h{kfkggmgfht m~fk fh{kfkggmgfkgfkj{gfmikg~{ x y t jtjk{tfkg ht m~fk {f f{ ~htg e g ifkle mikj ht {t |tk jkf~{g |tkij f mk{ g es tkg{k le eg t g tlek{kfkg { m{e{ f{ ~js~ x y m~fk hmf |egk eg letgfktfkg { ~hjtmgf{ eskjkg{ e s~kej g m{etgf jt ftfkg { e{ x { m{e{ {gf ~g~tjmgf ~tjk{~{ ht

(23)

kfmgf jt ~{jefkg e e x y kg|mtfkg kgftfkg hef f te{{k ~ ekf jt k ~g k{ftg htee ht jt e kf f te e s~kej x y tjej jt h{kfkg jtfks f e th e s~kej

(x, y, θ)

T

{f ~tjk{~ ht kgf~tfkg{ {e{{ks{ {{ ~hjtmgf{ ~j~mgftk{ x y t ggtk{{tg e ktmf { e{ j gf t { { e{ f jt kg~mtfkle e s~kej {f kk lek{ x 9 GMK9 [J:7<;J^H9 M9 ; 59 [<6 g{k ~g{ le jt t g tlek{kfkg { m{e{ m~fkle{ {kf t{{ ~js~ he ~tjk{ { hfkf{ ~hjtmgf{ ~j~mgftk{ fle j s~kej { ~hjt {tg{ jk{{ mgf Y | e x x g hmk jketjejg{ jt skf{{ jgkfe kgtjjt skf{{ jtf~tj e s~kej {jg j t

(x

v

, y

v

)

f jt skf{{ ftfkg e s~kej g |gfkg {skf{{{ tgejtk{ { e{

w

g

f

w

d

x

Y

X

x

k

y

k

θ

k

v

lat

v

lon

l

x w j kg~mtfkle fvh t







v

lon

=

r(w

d

₂

+w

g

)

v

lat

=

0 ˙θ

=

r(w

d

−w

g

)

l

Y x

r

{f j ktmf { e{ Y {ehh{~ k gfkle he j{ e e{ f

l

jt k{ftg {~httgf j{ e e{ x fg{ le j vhf{ ~hjtmgf {tg{ jk{{mgf kmh{ le jt skf{{ {jg j t jtf~tj e s~kej {kf g{k ~~ gejj x y t skf{{ jgkfe kgtjf jt skf{{ jtf~tj e s~kej {jg j t

(x, y)

{gf gg~{ ht j{ jtfkg{

v

lat

=

− ˙x sin(θ) + ˙y cos(θ)

v

lon

=

˙x cos(θ)

+

˙y sin(θ)

Y

x

(24)

g fgtgf mhf { ~letfkg{ Y x f Y x f g kgf~tgf tg{ j fmh{ j{skf{{{ jgkfe kgtj jtf~tj f ftfkg e s~kej kj {f h{{kij ggtf j{ ~hjt mgf{ ~j~mgftk{ e s~kej x kg{k j ~hjtmgf e s~kej eg kg{ftgf

k

_{− 1}

eg kg{ftgf

k

{f ~kf ht











x

k

= x

k−1

+

r(w

d

+ w

g

)

2 ∆

T

cos(θ

k

)

y

k

= y

k−1

+

r(w

d

+ w

g

)

2 ∆

T

sin(θ

k

)

θ

k

= θ

k−1

+

r(w

d

− w

g

)

l

∆

T

Y x ts

∆

T

j fmh{ ~ej~ gf j{ kg{ftgf

k

f

k

− 1

p GMK9 [J:7<;J^H9 M9 ; 59 ;6J[ [K9 m j { tmg g{k ~ eg s~kej ts e e{ tk{ f eg e kfk tstgf Y |e x xy ~ftf e s~kej {f tj{ ~kf ht j sfe h{kfkg

(x, y, θ)

T

f j tgj itlet jt e

δ

r

x jg le j{ thfe{ {gf mgf~{ {e j{ e{ tk{ j{ e{ tstgf e s~kej e |mejtfkg{ m j kg~mtfkle k{fgf f {gf {e{{ksmgf ~kf{ ht j{ ~letfkg{ Y x f Y x

Y

X

x

k

y

k

θ

k

v

lat

v

lon

δ

r

x w j kg~mtfkle fvh fkvj







˙x

˙y

˙θ

˙

δ

r





 =







cos(θ)

sin(θ)

tan

δ

r

l

0 





v

lon

+







0

1 



 v

r

Y x

(25)







˙x

˙y

˙θ

˙

δ

r





 =







cos(δ

r

) cos(θ)

sin(δ

r

) sin(θ)

sin

δ

r

l

0 





v

lon

+







0

1 



 v

r

Y x

˙δ

r

{f jt skf{{ itlet jt e kfk f

v

lon

jt skf{{ jgkfe kgtj { e{ tk{ e { e{ tstgf{ e s~kej {jg jt k{h{kfkg { mf{ x g{k ~g{j ~letfkg Y x g t mfftgfle j tgj itlet jte kfk {kf gge fef kg{ftgf Y j {fkmtfkg

˙

δ

r

skgf kgefkjf g kgf~tgf tg{ j fmh{

˙x

˙y

˙θ

j ~hjtmgf e s~kej gf j{ kg{ftgf

k

f

k

_{− 1}

{f











x

k

= x

k−1

+ v

lon

∆

T

cos(θ

k

)

y

k

= y

k−1

+ v

lon

∆

T

sin(θ

k

)

θ

k

= θ

k−1

+ tan

δ

r

l

Y x m j {f ~tjk{f {e{ jt gftkgf le fef kg{ftgf

|θ| ≤ θ

max

≤

π

₂

lek ft ekf le j tgj itlet jt e kfk kf f ig~ x ff gftkgf hef f ~~kf g |gfkg e tvg eie kg{ftgftg~ mt kmtj

R

max

f jt skf{{ jgkfe kgtj tkg{k

|θ| ≤ |v

lon

| R

max

R

max

=

l

tan(δ

r

max

)

Y x n GM7KJ8<;JG: M98 9669H68 GMG7;6J^H98 y hkgkhtj ~|tef ff m~f {f eg ~ks jt h{kfkg hhfkggjj jt k{ftg htee ht j s~kej hkgkhtjmgf eg tg e {e jt h{kfkg te{ j temejtfkg e{ j{ { kgf~tfkg{ {e{{ks{ x th{ kg{fkg tg{ kg{fkg t { e{ hesgf f jt{{~{ g e tf~k{ x K98 9669H68 8 8;7<;J^H98 { e{ { tuefgf tle kf~tfkg jt j tjk{tfkg e s~kej f {gf e gtfe{ k ~gf{ t j{ e{ {e j{ httmf{ m~tgkle{ e s~kej Y j{ e{ ktmf{ k ~gf{ e{ {e jt jgee gft { e{ gg tjkgmgf { e{ f xxx f i j{ e{ m{e{ Y ~{jefkg { e{ |~leg ~tgfkjjggt kg tf f xxx x y { e{ {v{f~mtfkle{ e hmk e fvh {gf g ~g~tj mhg{~{ g efkjk{tgf { m~f { tjkit tj{ le jj{ e {g fvh g hesgf f k~{ f ksgf f hk{{ g g{k ~tfkg tg{ j m j kg~mtfkle e s~kej x x K98 9669H68 :G:8 8;7<;J^H98 { e{ {gf kfmgf e{ te gftf{ s~kej ftkg x jj{h~{gfgfeg ttf tj~tfk f ~hg gf g~g~tj { ttf~k{fkle{ e {j {e|t ejmgf k~ejk Y fe{ f i{{{ h~{g Y x

(26)

|tkf j kmh{{kikjkf~ j{ h~ k j{ e{ gg{v{f~mtfkle{ {gf let{kmgf kmh{{kij{ mhg{ {tg{ e{ { m~f { h{kfkggmgf ti{je x jg j gskggmgf tg{ jlej ~sje j s~kej j eg e j tef { {e{ e{ skgf h~hg ~tgf stgf j tef x t mhj tg{ j t thhjktfkg{ g gskggmgf kgf~kej{e{gg{v{fmtfkle{~ftgflet{kkg k{ftgf{ {gf

j{ e{ {v{f~mtfkle{ lek g{fkfegf jt te{ hkgkhtj

{ ~ks{ jt h{kfkg x g stg tg{ eg gskggmgf f~ke lek {f gf t{ {gf j{ e{ gg {v{f~mtfkle{ lekuegf eg j hkm ktj tg{ ff ~ks x }g tgtjv{ { h~gmg{ hv{kle{ j kkg { e{ m~fkle{ {f f{ mhjkle~ mff g es x th{ ks{ g hef g{k ~le j ~tf fvh {ejt k{ftg htee

∆

D

k

hteg mf j kg{ftgf

k

{f g{fkfe~ eg fm h~{gftgf j e {e jt m{e e e Y stktg

σ

q

f eg fm h~{gftgf j kg eg { e{ {e j{ httmf{ jtjk{tfkg x fm {f m ~jk{~ ht eg iekf ijtg gf j ~tffvh {f hhfkggj jt k{ftg m{e~ Y

∆

D

∆

D

k

σ

∆

_Dk

=

q

σ

2 q

+ (

∆

D

∆

D

k

)

2

Y x ff fgkle jtjk{tfkg { it{ {e j efkjk{tfkg { {v{fm{ kgfkj{ gt sktfkg Y gf j gm {f te |tkf j efkjk{tfkg { hhk~f~{ kgfkjj{ jt mtfk f jt jemk x th{ j{ jk{ jt m~tgkle |mej~{ ht {tt fg jt jtjk{tfkg e s~kej {f ~ ekf jt eij kgf~tfkg { mh{tgf{ t~j~m~ fkle{

a

e s~kej

v =

Z

a dt

Y x

p =

Z

v dt

Y x e ~tjk{ j h{kfkggmgf tg{ eg {v{fm ~|~g kj {f tj{ g~{{tk ggtf j kgftfkg {htfktj { mh{tgf{ t~j~m~fkle{ x kg{k j{ {v{fm{ {gf mh{~{ fk{ t~j~mf{ kgf~{ j tk fk{ v{h{ x

θ =

Z

w dt

Y x p 98 MJ769:;8 8 8;98 Z y { k ~gf{ {v{fm{ kgfkj{ hesgf f jt{{~{ g e tf~k{ j{ {v{fm{ hjtf{|m{ {ftikjk{~{ f j{ {v{fm{ mh{tgf jk~{ x jg j{ h|mtg{ f j hk skgf gsk{t~{ he jt jtjk{tfkg e if { {v{fm{ hesgf f x

(27)

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(28)

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(29)

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(30)

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(31)

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(32)

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(33)

{kf j{ ~j~mgf{ mtletij{ {gf ht{{k|{ Y itjk{{ tfkkjj{ e tm{ gtfej{ k{h{~{ tg{ j gskggmgf telej t{ j {v{fm hhfkg kf ti j{ ~ff tstgf fe jt jtjk{tfkg e s~kej x kg { lej le {kf j t{ e j h{{e{ h{kfkggmgf g~{{kf feue{ eg ggtk{{tg j gskggmgf ~g~tjmgf gg~ {e{ |m tf x K79:;8 69<6^H<IK98 <[;J 8 \ tg{ t{ j{ kg|mtfkg{ jk~{ te ~j~mgf{ mtletij{ {gf g ~g~tj ftg{mk{{{ te {v{fm hhfkg ht { mvg{ mmegktfkg t k |~leg f jt jtjk{tfkg {f ~tjk{~ ht eg fkjtf~tfkg { kg|mtfkg{ x ff m~f {f jtmgf efkjk{~ he j h{kfkggmgf itfte w g tskg{ tvfg f {f j hkgkh h{kfkggmgf ht Y | {fkg xx e g ht f~j~hgk mikj Y | {fkg x x x K79:;869<6^H<IK98 5<88J 8 \ tg{ ff {kfetfkgj h{kfkggmgf e s~kej h{ {e jt hhfkg f jt tfthk j gskggmgf h e s~kej j tk thfe{ f~hfk|{ fj{ le j t t k{{tgtvt j{ thfe{ f~j~m~ fkle{ le {kf ht jt{ ekstgf gg e ht ejft{g jmtg z t { e g ht { {v{fm{ sk{kg x y h {{e{ jtjk{tfkg { ~mh{ tj{ g fk{ ~fth{ g{fefkg eg tf jtj j gskggmgf g |gfkg { kg|mtfkg{ hsgtgf { thfe{ f~h fk|{ mk{ g {hg tg ff tf ts eg tf jitj j gskggmgf f tjej Y g ~g~tj fktgejtfkg { kg|mtfkg{ f~hfks{ eg |k{ jt mk{ g {hg tg fe~ jt h{kfkg f j kgftfkg e s~kej x g tmgftjmgf e t{ e{ hesgf f k{fkge~{{kf jt tf jitj j gskggmgf {f k{hgkij f j h{kfkggmgf { fe mm h~{gf~ ktstgf x kf jj g {f ht{ k{hgkij telej t{ j {v{fm hhfkg kfg{fek {t hh tf jitj te |e f m{e {g hjtfkg j gskggmgf g htj tj{ y w k{{tgtvt ekstgf x y tstgft {m~f { h{kfkggmgfti{je ht thhf te m~f { h{k fkggmgf jtfk| {f j ~jkmkgtfkg e h~gmg ~ks ggf~ ts { gk{ x g gf htfk jt jtjk{tfkg ~hg kfmgf jt sk{kikjkf~ { ~j~mgf{ mt letij{ ht j {v{fm hhfkg f g~{{kfgf ikg {esgf eg tm~gtmgf t ~ letf j gskggmgf f g eg kgs{fk{{mgf je g ~lekhmgf x hje{ fef tgmgf getfkg f gskggmgf kmhjkle eg mk{ g te{ {g tm~gtmgf f {t tf x gg j{ ftkfmgf{ { kg|mtfkg{ k{{e{ { k ~gf{ thfe{ {gf g ~g~tj hje{ je { le he j{ thfe{ hhkhfk|{ x 7;GM98 M9 5G8J;JG::99:; <I8GKH 9:J8<L9<IK98 5GH6 :G;69 <556G[9 \ z ef ti ge{ thhjg{ le gf thh kf hmff jt jtjk{tfkg eg s~kej tg{ j ~{te efk g g{k ~tgf le {t tf k{f Y tf ~kstgf j{ jkmkf{ {

(34)

sk{ kejtfkg f le teeg tm~gtmgf {g kg|t{fefe g {f gsk{ttij Y ht{ itjk{{ tfkkjj{ x j{ {ejmgf e m~f { h{kfkggmgf ti{je h~{gf~{ k {{e{ hesgf f efkjk{tij{ j{ m~f { h{kfkggmgf htfk ~j~mgf{ mtletij{ tfk|{ mm j h{kfkggmgf ht e ht f~j~hgk m ikj f jt m~f h{kfkggmgf ts ~j~mgf{ mtletij{ ht{{k|{ gtfej{ Y tg{ gf t{ mtlet{ {kgtj~fkle{ te {j jkmkf{ jt te{{~ ht {v{fm sk{kg x { k ~gf{ m~f { {gf h~{gf~{ tg{ jt {ekf ff {fkg x p p 98[6J5;JG: M98 8 8;98 9J8;<:;8 z k{ {v{fm{ z e{fg h{kfkggmgf ht {tfjjkf{ k{fgf ht j mg e {gf ~u h~tfkggj{ {gf j {v{fm tm~ktkg z f j {v{fm e{{ y x y fk{km {f k j {v{fm eh~g yy {f g e{ g{fefkg x Z ] Z \ y {v{fm Y jitj {kfkgkg v{fm z t ~f~ mk{ g es ht j mkgk{f jt ~|g{ m~ktkg { j{ tgg~{ x |tkf kj {f gfkmgf {e{ gfj tm~ktkg f je hmf eg k{hgkikjkf~ {~jfks e {kgtjg vhftgf ftkg{ kg|mtfkg{ x {v{fm {f mh{~ {tfjjkf{ z {e ikf{ kgjkg~{ eg tjfkfe m f {ftfkg{ tm~ktkg{ te {j gf jt hkgkhtj { fes te ftf{}gk{ xy {v{fm {f mg ktjmgf gge f tfekf f hmf eg jtjk{tfkg ts eg h~k{kg

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(35)

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Perception multisensorielle pour la localisation d'un robot mobile en environnement extérieur, application aux véhicules routiers

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https://tel.archives-ouvertes.fr/tel-00692034

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Perception multisensorielle pour la localisation d’un

robot mobile en environnement extérieur, application

aux véhicules routiers

Jean Laneurit

To cite this version:

Jean Laneurit. Perception multisensorielle pour la localisation d’un robot mobile en environnement

extérieur, application aux véhicules routiers. Automatique / Robotique. Université Blaise Pascal

-Clermont-Ferrand II, 2006. Français. �NNT : 2006CLF21658�. �tel-00692034�

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