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Coordination des mouvements d'un système mobile bi-bras pour la réalisation de tâches complexes de navigation et de manipulation dans un environnement fortement dynamique

Emile Le Flecher 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This thesis explores the development of innovative solutions to automatize navigation and manipulation agricultural tasks in orchards field. The considered tasks are various, ranging from analysis to spraying or even to fruit harvesting. This environment introduces many challenging constraints which must be faced to design efficient automation solutions. First, an accurate localization cannot be achieved during the mission because of GNSS signal losses due to the canopy. The navigation must then rely on measurements from embedded sensors such as odometers, cameras or lasers. Moreover, the studied environment is natural and dynamic : leaves or fruits motion in the trees, variability due to the seasons, etc. Thus, the classic metric methods for modeling, localization, and planning require regular updates which are known to be highly time consuming. For these reasons, in this work, it has been chosen to develop sensor based control strategies which are known to be less sensitive to the environment evolution. This manuscript is divided in two parts. The first one focuses on navigation and presents an entire strategy matching orchard fields constraints. Among the contributions, some sensor-based controllers have been built to perform various shapes of U-turns. They have been validated in simulation and in an experimental context. The second part of the manuscript deals with manipulation. A vision-based strategy has been developed to control a multi-arms and multi-cameras system. This strategy, based on predictive control techniques, allows to take into account different constraints (space sharing, collisions, etc.). This approach has been analyzed in simulation and the results seem very promising for real experiments. Finally, the last part summarizes the main contributions and proposes future interesting research leads.
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Submitted on : Tuesday, October 20, 2020 - 9:49:21 AM
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Emile Le Flecher. Coordination des mouvements d'un système mobile bi-bras pour la réalisation de tâches complexes de navigation et de manipulation dans un environnement fortement dynamique. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2020. Français. ⟨NNT : 2020TOU30006⟩. ⟨tel-02485846v2⟩

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