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Application de l´approche par fonctions transverses à la commande de véhicules non-holonomes manoeuvrants

Guillaume Artus 1 
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This PhD Thesis concerns the automated guidance of wheeled vehicles.
Our objective is the development and the experimentation of a new control approach for nonlinear systems in order to achieve the tracking of a moving target, associated, for example, with a reference vehicle. An original feature of this work is that the target is allowed to move freely in the plane and thus to perform motions which are not feasible by the controlled vehicle.
It becomes thus possible to follow a reference vehicle independently of its motions (forward motion, backwards motion, maneuvers...).

The control approach is based on the transverse function framework, and consists to perform the practical stabilization of the target.
First, we analyze the influence of the control parameters on the target tracking. Based on this analysis, we propose two extensions in order to improve the tracking precision and the system´s behaviour during the transient phases. Finally, we present experimental results obtained with the robotic system of the Icare laboratory.
To this purpose, an estimator of the target´s velocity has been developed. It is based on visual and odometry measurements.
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Submitted on : Thursday, May 12, 2005 - 2:54:46 PM
Last modification on : Friday, February 4, 2022 - 3:19:15 AM
Long-term archiving on: : Friday, April 2, 2010 - 9:53:44 PM


  • HAL Id : tel-00009247, version 1



Guillaume Artus. Application de l´approche par fonctions transverses à la commande de véhicules non-holonomes manoeuvrants. Automatique / Robotique. École Nationale Supérieure des Mines de Paris, 2005. Français. ⟨tel-00009247⟩



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