Dissertations / Theses on the topic 'Planification de la trajectoire'
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Maillot, Thibault. "Planification de trajectoire pour drones de combat." Phd thesis, Toulon, 2013. http://tel.archives-ouvertes.fr/tel-00954584.
Hima, Salim. "Planification de trajectoire pour des dirigeables autonomes." Evry-Val d'Essonne, 2005. http://www.theses.fr/2005EVRY0031.
The main work in this thesis deals with the problem of trajectory planning for autonomous airships. In the first part, we exposed a mathematical model governing the motion of the airships. The second part is devoted to characterization of admissible trajectories. The choice is made on the trim trajectories, which occupy a particular place in aviation applications. We proposed an algorithm that allows the calculation of the trim minimizing energy, suitable for long duration missions. The third part consists in formulating the problem of planning in a Hybrid Automata form named Motion automata. Its nodes are represented by trim trajectories, while its edges correspond to transitions maneuvres between trim’s. Analysing controllability of motion automaton is possible by exploiting the properties of trim trajectories. In this context, nominal trajectory is given by concatenating a finite number of primitives
Kahale, Elie. "Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art." Thesis, Evry-Val d'Essonne, 2014. http://www.theses.fr/2014EVRY0016/document.
Today, the inspection of structures is carried out through visual assessments effected by qualified inspectors. This procedure is very expensive and can put the personal in dangerous situations. Consequently, the development of an unmanned aerial vehicle equipped with on-board vision systems is privileged nowadays in order to facilitate the access to unreachable zones.In this context, the main focus in the thesis is developing original methods to deal with planning, reference trajectories generation and tracking issues by a hovering airborne platform. These methods should allow an automation of the flight in the presence of air disturbances and obstacles. Within this framework, we are interested in two kinds of aerial vehicles with hovering capacity: airship and quad-rotors.Firstly, the mathematical representation of an aerial vehicle in the presence of wind has been realized using the second law of newton.Secondly, the question of trajectory generation in the presence of wind has been studied: the problem of minimal time was formulated, analyzed analytically and solved numerically. Then, a strategy of trajectory planning based on operational research approaches has been developed.Thirdly, the problem of trajectory tracking was carried out. A nonlinear robust control law based on Lyapunov analysis has been proposed. In addition, an autopilot based on saturation functions for quad-rotor crafts has been developed.All methods and algorithms proposed in this thesis have been validated through simulations
Tétreault, Mario. "Planification et optimisation de trajectoire pour un manipulateur." Thesis, University of Ottawa (Canada), 1989. http://hdl.handle.net/10393/5793.
Tournassoud, Pierre. "Planification de trajectoires en robotique : complexité et approche pratique." Paris 11, 1988. http://www.theses.fr/1988PA112070.
Gaillard, François. "Approche cognitive pour la planification de trajectoire sous contraintes." Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2012. http://tel.archives-ouvertes.fr/tel-00839372.
Atassi, Adnan. "Planification de trajectoire robuste dans l'espace des informations capteur." Metz, 1999. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/1999/Atassi.Adnan.SMZ9902.pdf.
This paper introduces a new approach to robust path planning for mobile robots. This approach is entirely based on ultrasonic sensors information, and avoids the use of odometry, which leads to the accumulation of errors resulting from the calculation of the robot position. We have proceeded as follows : for each segment of obstacle detected by the mobile robot sensors, we create a free space region. A node graph is used to represent the regions with their links. With this graph as a basis, we use a planning algorithm which chooses the required path. The final stage consists in finding for the robot motion a robust control, as regards the environment model errors (uncertainties). This approach could contribute in practise to a control system for indoor robot motion, which offers increased accuracy to an economical ultrasound device
ATASSI, ADNAN Pruski Alain. "PLANIFICATION DE TRAJECTOIRE ROBUSTE DANS L'ESPACE DES INFORMATIONS CAPTEUR /." [S.l.] : [s.n.], 1999. ftp://ftp.scd.univ-metz.fr/pub/Theses/1999/Atassi.Adnan.SMZ9902.pdf.
Allemand, Sandrine. "Planification de trajectoire par réseau neuro-flou sur système multiprocesseur." Avignon, 1995. http://www.theses.fr/1995AVIG0108.
Chaimatanan, Supatcha. "Planification stratégique de trajectoires d'avions." Phd thesis, Université Paul Sabatier - Toulouse III, 2014. http://tel.archives-ouvertes.fr/tel-01064452.
Pharpatara, Pawit. "Trajectory planning for aerial vehicles with constraints." Thesis, Université Paris-Saclay (ComUE), 2015. http://www.theses.fr/2015SACLE001/document.
The focus of this PhD thesis is on the trajectory planning module as a part of autonomous aircraft system. Feasible trajectories for aircraft flying in environment cluttered by obstacles are studied. Since aircraft dynamics is complex, nonlinear and nonholonomic, trajectory planning for such systems is very difficult and challenging. Rapidly-exploring Random Tree or RRT path planner is used as a basis to find a feasible trajectory. The advantage of this algorithm is that it does not consider only the complete vehicle model but also the environment. Two algorithms are developed to find a feasible and optimal solution. The RRT algorithm combined with a preprocessing of the exploration space is used for a complete realistic model of the system. However, this approach does not consider any optimal criteria. In order to consider performance criteria, the RRT* algorithm is used based on a simplified model with the help of the artificial potential field as a heuristic to improve the convergence rate to the solution. The algorithms are simulated in an application of hypersonic aerial vehicles, for example, interceptor missiles flying in high altitude. This makes the aerodynamically controlled aircraft have less maneuverability since the air density decreases exponentially with altitude. 3D shortest paths are developed and used as a metric. A feasible and optimal trajectory is obtained efficiently. With this results, real-time constraints will be easier to verify if the algorithm is implemented on board the vehicle. In future work, replanning will be considered to improve the performance of the algorithm in case of dynamic environment or changes in the mission
Ma, Yingchong. "Planification de trajectoire et commande pour les robots mobiles non-holonomes." Phd thesis, Ecole Centrale de Lille, 2013. http://tel.archives-ouvertes.fr/tel-00979604.
Broquère, Xavier. "Planification de trajectoire pour la manipulation d'objets et l'interaction Homme-robot." Phd thesis, Université Paul Sabatier - Toulouse III, 2011. http://tel.archives-ouvertes.fr/tel-00644776.
Guyon, Christophe. "Calcul symbolique pour la planification de trajectoire des systèmes dynamiques Nilpotents." Lille 1, 1995. http://www.theses.fr/1995LIL10146.
Beaucorps, Pierre de. "Planification de trajectoire dans un environnement peu contraint et fortement dynamique." Electronic Thesis or Diss., Sorbonne université, 2019. http://www.theses.fr/2019SORUS082.
This thesis studies the trajectory planning of an automated vehicle surrounded by fast moving obstacles in an unconstrained environment (i.e. with no clear lane markings). Two main approaches are proposed: compute a speed profile on a given path, or find a valid path starting from a hypothesis on the speed of the vehicle. The first approach consists of a dynamic adaptation of the speed of an automated vehicle driving in a semi-constrained environment and in the presence of other vehicles. A set of speed profile references is used. They must be compatible with the dynamics of the vehicle and also comfortable for the passengers. Quantitative validations have been conducted in simulation together with qualitative validations on an automated vehicle, which demonstrate the benefits of this planning strategy. In the second approach, the « Reachable Interaction Sets » (RIS) are introduced as a new framework that allows to plan the trajectory of a vehicle surrounded by dynamic obstacles which move faster. The approach removes the temporal aspect of the problem by using a hypothesis about the speed of the vehicle. The remaining problem can be solved out by a static path finding algorithm. Quantitative validations show the advantage of planning approachs based on this framework compared to other state-of-the-art planning strategies
Al, Sayed Souleiman Al Atassi Yosser. "Planification de trajectoires dans un environnement inconnu." Nancy 1, 1996. http://www.theses.fr/1996NAN10007.
Ahuactzin-Larios, Juan-Manuel. "Le Fil d'Ariane : une méthode de planification générale : application à la planification automatique de trajectoires." Grenoble INPG, 1994. http://www.theses.fr/1994INPG0078.
Pasquier, Michel. "Planification de trajectoires pour un robot manipulateur." Phd thesis, Grenoble INPG, 1989. http://tel.archives-ouvertes.fr/tel-00334461.
Ahmed, Ali Sofiane. "Planification de trajectoire pour un robot mobile : application particulière aux passages étroits." Le Havre, 2008. http://www.theses.fr/2008LEHA0009.
The work presented in this thesis is about motion planning for mobile robots. The presented techniques are based upon the concept of probabilistic roadmap path planners which uses the space configuration framework as a basis for designing new probabilistic path planners for mobile robots. Two main contributions are presented in this thesis. The first one is about designing a new algorithm for path planning for mobile robots called the angular domain which improves the performance of the probabilistic path planner in narrow passage locations. The second contribution is about a new configuration path planner algorithm called the angular domain path planner with key configuration concept which improves the performance of the first algorithm in open area locations
Soulignac, Michaël. "Planification de trajectoire en présence de courants : application aux missions de drones." Nice, 2009. http://www.theses.fr/2009NICE4006.
Recent advances made in the fiel of autonomous vehicles suggest that, in a near future, Unmanned Air Vehicles (UAVs) will be more and more deployed in order to achieve various missions (such as surveillance, intelligence or search and rescue). Moreover, since UAVs may be slow, the impact of current is significant and cannot be neglected. That is why we introduce in the proposed thesis two new trajectory planning algorithms in presence of currents, which are extensions of wavefront expansion techniques. The first one, called sliding wavefront expansion, allows to handle strong currents, i. E. Currents which are faster than the UAV. We show that this approach is much more reliable than the existing one, which can return, in this particular context, physically infeasible paths. The second one, called symbolic wavefront expansion, allows to handle time-varying currents. Given some weather forecast (through current charts), this approach determine both the departure time and the trajectory minimizing the UAV’s travel time
Amet, Henri. "Méthodes géométriques et algorithmiques pour la planification de trajectoires." Nancy 1, 1990. http://www.theses.fr/1990NAN10492.
BUI, XUAN-NAM. "Planification de trajectoire pour un robot polygonal non holonome dans un environnement polygonal." Paris, ENMP, 1994. http://www.theses.fr/1994ENMP0443.
Altché, Florent. "Prise de décision et planification de trajectoire pour les véhicules coopératifs et autonomes." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLEM061/document.
The deployment of future self-driving vehicles is expected to have a major socioeconomic impact due to their promise to be both safer and more traffic-efficient than human-driven vehicles. In order to live up to these expectations, the ability of autonomous vehicles to plan safe trajectories and maneuver efficiently around obstacles will be paramount. However, motion planning among static or moving objects such as other vehicles is known to be a highly combinatorial problem, that remains challenging even for state-of-the-art algorithms. Indeed, the presence of obstacles creates exponentially many discrete maneuver choices, which are difficult even to characterize in the context of autonomous driving. This thesis explores a new approach to motion planning, based on using this notion of driving decisions as a guide to give structure to the planning problem, ultimately allowing easier resolution. This decision-based motion planning approach can find applications in cooperative driving, for instance to coordinate multiple vehicles through an unsignalized intersection, as well as in autonomous driving where a single vehicle plans its own trajectory. In the case of cooperative driving, decisions are known to correspond to the choice of a relative ordering for conflicting vehicles, which can be conveniently encoded as a graph. This thesis introduces a similar graph representation in the case of autonomous driving, where possible decisions -- such as overtaking the vehicle at a specific time -- are much more complex. Once a decision is made, planning the best possible trajectory corresponding to this decision is a much simpler problem, both in cooperative and autonomous driving. This decision-aware approach may lead to more robust and efficient motion planning, and opens exciting perspectives for combining classical mathematic programming algorithms with more modern machine learning techniques
Boyer, Fabrice. "Planification de mouvements dynamiques appliquée à la conception de la liaison au sol." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2007. http://tel.archives-ouvertes.fr/tel-00949966.
Lafaye, Jory. "Commande des mouvements et de l'équilibre d'un robot humanoïde à roues omnidirectionnelles." Thesis, Université Grenoble Alpes (ComUE), 2015. http://www.theses.fr/2015GREAT052/document.
The problem of this thesis concerns the control of the movements and the equilibrium of humanoid robots that have a mobile base with omnidirectionnal wheels. The developed methods aim to reach high dynamical performances for this type of robot, while ensuring it stability and equilibrium. Humanoid robots have generally a center of mass relatively high compared to its contact surface with the ground. Therefore, the slightest acceleration of the robot bodies induces a large variation of the distribution of the contact forces with the ground. If they are not properly controlled, the robot can fall. Moreover, the robot having a mobile base with wheels, a disturbance can easily bring it to tilt on two wheels. Finally, a specific interest have been provided about the realisation of a real time controler implemented on the embedded system of the robot. This implies some constraints about the computationnal time of the control law. In order to answer these problems, two linear models of the robot have been developed. The first allows to modelize the dynamics of the robot when it has all of its wheels in contact with the ground. The second allows to modelize the dynamics of the robot when it tilts on two of its wheels. These models have been developed by taking into account the mass distribution of the robot. These models have been subsequently used in two predictive control laws, allowing to take into account at every instant the dynamical constraints as weel as the future behavior of the robot. The first allows to control the movements of the robot when it has all of its wheels in contact with the ground, preventing it for tilting. The second allows the robot to recover itself in a situation when a disturbance bring it to tilt, in order to bring back all of its wheels in contact with the ground. Also, a supervisor that has a state machine has been made in order to define which control law has to be executed at each instant. This supervisor uses the available sensors on the robot in order to observe its tilt state. Finally, in order to validate experimentally the results of the developments of this thesis, a series of experiments has been presented, demonstrating some aspects of the control law. In particular, some tests have been made concerning the tracking of non physically feasible trajectories, the reject of disturbances applied on the mobile base, the stabilisation of the robot during its tilt, and the compensation of the variations of the ground inclination
Payeur, Pierre. "Exploitation des octrées probabilistes pour la modélisation d'environnements tridimensionnels et la planification de trajectoire." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0002/NQ43101.pdf.
Flavigne, David. "Planification de mouvement interactive: coopération humain-machine pour la recherche de trajectoire et l'animation." Phd thesis, Université Paul Sabatier - Toulouse III, 2010. http://tel.archives-ouvertes.fr/tel-00538807.
Flavigné, David. "Planification de mouvement interactive : coopération humain-machine pour la recherche de trajectoire et l'animation." Toulouse 3, 2010. http://thesesups.ups-tlse.fr/983/.
This thesis presents a motion planning method that integrates a user input into the planning loop to find a path and animate a virtual character. After a general introduction, a general presentation of the motion planning problem is made and the most known algorithms are presented in the second chapter. Then, two works on which this chapter is based are presented in details. A new motion planning method designed for planning in human environments is described. Several tests and a study are made on different environments and show the advantages of the approach. The third chapter introduces a new interactive motion planning method that allows a human operator and an algorithm to cooperate in a single interaction loop. This method is based on a pseudo-force exchange between the user and the algorithm through a virtual scene using interactive devices such as a space mouse or a haptic arm. Several examples illustrate the approach and an automotive case is presented. A analysis shows the influence of several parameters on the performances. The fourth chapter presents an intuitive and interactive character animation method. Using a previous work based on motion capture interpolation for animation and the previous chapter algorithm, this method introduces interactivity to create animated trajectories for virtual characters that follows the user intentions. Some examples illustrate the method and show the advantages
Poty, Alexandre. "Planification de trajectoire dans un environnement dynamique et génération de mouvement d'ordre non entier." Bordeaux 1, 2006. http://www.theses.fr/2006BOR13202.
Lewkowicz, Jacques. "Stratégie et technologie, le concept de trajectoire stratégique : application au cas de la productique." Clermont-Ferrand 1, 1991. http://www.theses.fr/1991CLF10003.
Bellafkih, Mostafa. "Apprentissage incremental des heuristiques de planification de trajectoire d'un robot mobile autonome dans un batiment." Paris 6, 1994. http://www.theses.fr/1994PA066033.
Palluel-Germain, Richard. "Planification et contrôle de la trajectoire d'un mouvement d'atteinte de cible : influence des contraintes visuelles." Grenoble 2, 2004. http://www.theses.fr/2004GRE29045.
In goal-directed movements, the way motor intentions are transformed into motor commands raises the question of defining the mechanisms responsible for the hand trajectory formation. A large set of data led to the conclusion that goal-directed movements are encoded as a displacement along a given pre-established trajectory. According to some theories, the motor system selects a given trajectory in task space and then, transforms this path into a pattern of joint covariations. Whereas according to another view, the path taken by the hand in the external world is the result of a trajectory specified at the joint level. The goal of the present work is to show that trajectory planning can be influenced by a visual constraint. In a first experiment we compared movements carried out either under a direct or a remote visual control (use a video system). Movements aimed at targets placed at different eccentricities and were either constrained (i. E. , two dimensional movements) or unconstrained (i. E. , three dimensional movements). Results revealed that trajectories of constrained movements were nearly straight whatever the eccentricity of the target and the type of visual control. However, a different pattern was revealed for unconstrained movements: Under direct vision, the trajectory curvature increased as the eccentricity of the target augmented, whereas under indirect vision, trajectories remained nearly straight whatever the eccentricity of the target. In a second experiment, grasping movements were analysed in a similar situation. Despite the biomechanical constraints that weigh upon such movements, subjects tended to produce straight trajectories in the indirect visual feedback situation. Similar results were observed in motor adaptation to a directional bias imposed by a 45 degree rotation of the remote visual feedback (Third experiment). Taken together, these results suggest that movements controlled through a remote visual feedback are planned in task space and therefore show that motor commands are represented differently as a function of the demands of the task
Jacquemin, Yoan. "Optimisation de la trajectoire du patient dans les centres de radiothérapie ou d'hadronthérapie." Phd thesis, Université Jean Monnet - Saint-Etienne, 2011. http://tel.archives-ouvertes.fr/tel-00718789.
Boyer, Fabrice. "Planification de mouvements dynamiques appliquée à la conception de la liaison au sol." Phd thesis, Toulouse, INPT, 2007. https://hal.science/tel-00949966.
The vehicle dynamics models are often used in open loop simulation, requiring a precise initial state and inputs coming from a driver. The motion planning tools proposed in this PhD take into account a more realistic description of the current test : an initial state the vehicle is starting from, a corridor to be followed and an arrival area. Additionally to solving the problem of finding such a solution maneuver, two other questions are being addressed : finding a representative set of the numerous solutions ; finding the limit of a parameter (for instance the initial speed) beyond which no solution is found. These generic tools are able to painlessly adapt to new vehicles or obstacles. Standardized drive maneuvers have been tested allowing to robustly discover the physical limits of a vehicle passing through such tests
Cailhol, Simon. "Planification interactive de trajectoire en Réalité Virtuelle sur la base de données géométriques, topologiques et sémantiques." Thesis, Toulouse, INPT, 2015. http://www.theses.fr/2015INPT0058/document.
To save time and money while designing new products, industry needs tools to design, test and validate the product using virtual prototypes. These virtual prototypes must enable to test the product at all Product Lifecycle Management (PLM) stages. Many operations in product’s lifecycle involve human manipulation of product components (product assembly, disassembly or maintenance). Cue to the increasing integration of industrial products, these manipulations are performed in cluttered environment. Virtual Reality (VR) enables real operators to perform these operations with virtual prototypes. This research work introduces a novel path planning architecture allowing collaboration between a VR user and an automatic path planning system. This architecture is based on an original environment model including semantic, topological and geometric information. The automatic path planning process split in two phases. First, coarse planning uses semantic and topological information. This phase defines a topological path. Then, fine planning uses semantic and geometric information to define a geometrical trajectory within the topological path defined by the coarse planning. The collaboration between VR user and automatic path planner is made of two modes: on one hand, the user is guided along a pre-computed path through a haptic device, on the other hand, the user can go away from the proposed solution and doing it, he starts a re-planning process. Efficiency and ergonomics of both interaction modes is improved thanks to control sharing methods. First, the authority of the automatic system is modulated to provide the user with a sensitive guidance while he follows it and to free the user (weakened guidance) when he explores possible better ways. Second, when the user explores possible better ways, his intents are predicted (thanks to geometrical data associated to topological elements) and integrated in the re-planning process to guide the coarse planning. This thesis is divided in five chapters. The first one exposes the industrial context that motivated this work. Following a description of environment modeling tools, the second chapter introduces the multi-layer environment model proposed. The third chapter presents the path planning techniques from robotics research and details the two phases path planning process developed. The fourth introduce previous work on interactive path planning and control sharing techniques before to describe the interaction modes and control sharing techniques involved in our interactive path planner. Finally, last chapter introduces the experimentations performed with our path planner and analyses their results
FERBACH, PIERRE. "Contribution a la planification de trajectoires." Palaiseau, Ecole polytechnique, 1996. http://www.theses.fr/1996EPXX0023.
Mezouar, Youcef. "Planification de trajectoires pour l'asservissement visuel." Rennes 1, 2001. http://www.theses.fr/2001REN10138.
Ajami, Alain. "Modélisation et simulation d'une station mono-opérateur pour le contrôle de drones et la planification de trajectoire." Thesis, Toulon, 2013. http://www.theses.fr/2013TOUL0009/document.
The presented work is part of a larger project called SHARE, which consists in developing a universal new generation ground control station for the monitoring and the control of fixed and rotary wing UAVs (Unmanned Aerial Vehicle).The objective of this PhD thesis is to develop a generic ground control station simulator capable of simulating in real time different types of UAVs, onboard sensors, several flight environments, and various military missions which are defined according to the STANAG 4586 standard. First, we introduce the model of the different parts of the station, and then we present the architecture adopted for the simulator and the control module. The latter is divided into several hierarchical levels; the upper level contains the path planning algorithms for fixed wing HALE (High Altitude, Long Endurance) UAV. These algorithms are used to calculate an admissible path between initial and final position by minimizing a cost function.Finally, in order to manage missions online, we developed a decision support system that is capable of performing a variety of objectives. This system also supplies the operator the best paths proposed by planning algorithms. This tool aims to help the station operator to make the decision by maximizing the rewards obtained during the achieving the objectives and minimizing certain criteria (resource consumption, danger, weather,..)
Guys, Laureline. "Planification de trajectoires d'avions sans conflit : fonctions biharmoniques et fonction de navigation harmonique." Toulouse 3, 2014. http://thesesups.ups-tlse.fr/2444/.
We consider a planning of aircraft trajectories in free-route sectors, i. E. Sectors where aircraft do not have to follow air routes anymore. The planning is done several days, or even weeks before take-off. Our goal does not entail control of the aircraft in real time to avoid conflicts, but an organization of the traffic so the only conflicts the controllers have to manage come from perturbations of the system (like meteorological hazard). Such a planning tool could also be used as a simulation tool, to determine for example take-off planning. This thesis focuses on the potential fields method to plan conflict-free trajectories for a large number of aircraft. The study of harmonic potential fields, as well as biharmonic fields highlights the limits of these methods: their computation time explodes with the increase of the number of flights. This conclusion brought us to study an other type of potential fields: the navigation functions, already used for conflict-avoidance. We propose in the last part of this thesis a new navigation function, based on previous work on harmonic functions and navigation functions. This harmonic navigation function is able to plan a large number of aircraft trajectories with a very small computation time. It also guarantees some good properties for the planned trajectories, like constant speed. Some leads are also given on how to improve the harmonic navigation function, especially how to optimize the trajectories it produces
Demers, Jean-Christophe. "Conception et développement d'un système de perception de l'environnement et de planification de trajectoire pour un robot marcheur." Mémoire, École de technologie supérieure, 2002. http://espace.etsmtl.ca/820/1/DEMERS_Jean%2DChristophe.pdf.
Menasri, Riad. "Métaheuristiques pour la planification de trajectoire des bras manipulateurs redondants : application à l'assistance au geste chirurgical en craniotomie." Thesis, Paris Est, 2015. http://www.theses.fr/2015PESC1135/document.
The problem of trajectory planning is largely studied in the literature. In order to solve this problem, we need to take into account two important constraints, which are : • the computation of the different configurations in which the robot must pass ; • the smoothness of the resulting curves (velocities, accelerations, jerks).Taking both constraints into consideration can be done in two different ways. The first one is to suppose that all the curves are smooth (using polynomial or trigonometric functions) and then, the aim of the resolution is to find the coefficient of each of them. The second way is to deal the constraints separately. Thus, we compute in first the different configurations in which the robot must pass. After that, we compute the whole curve by interpolation. Adding to the constraints mentioned before, we have to solve the problem of the redundancy of the robot. The first part of this thesis is then devoted to the study of this problem. The proposed solving technique is entirely based on optimization algorithms. The two constraints cited above are treated separately, which allows to take more criteria into account. Thus, new formulations are proposed. They are based on the hierarchical optimization problem, which facilitates handling of the redundancy which is used for the obstacle and the singularities avoidance. Because of the high complexity of the proposed formulations, we chose to use metaheuristics to resolve them, especially the genetic algorithms. We validated the proposed technique on the model of the Neuromate robot. The second part of this thesis is devoted to an application achieved with the Neuromate robot. The procedure of craniotomy is used to perform a very small hole in the human skull in order to allow the surgeon to introduce medical instruments, to take care of some illness that affects brain. Achieved by the surgeon himself, without any robotics aid, this operation is very delicate, because of its lack of precision and increase of processing time. The risks are particularly high if the area of intervention is near the veins. The classical solving technique is based on the co-manipulation principle, which means that the surgeon participates in the action and then, provides an effort. In this work, another solving technique is proposed. It is based on the integration of a machining system with the Neuromate robot. The tests are achieved on plates made of polyamide of which the mechanical characteristics are near to those of the human skull
Pasquier, Michel Laugier Christian Fonlupt Jean. "Planification de trajectoires pour un robot manipulateur." S.l. : Université Grenoble 1, 2008. http://tel.archives-ouvertes.fr/tel-00334461.
Séon, Jean-Antoine. "Planification et mise en oeuvre de mouvements de micromanipulation dextre." Thesis, Bourgogne Franche-Comté, 2017. http://www.theses.fr/2017UBFCD062.
Nowadays, microsystems require more and more functionality in increasingly smaller volumes.However, assembly of microcomponents remains a poorly controlled step and limited to pick andplance operations for simple shaped components. These limitations are largely due to the physicalbehavior existing at the micrometric scale. In fact, below the millimeter, the surface forces (capillarity,van der Waals, etc.) become more important. As a result, the paradigm of manipulation changesradically since adhesion between the gripper and the object become visible. Thus, it is necessaryto implement original manipulation strategies enabling dexterous micromanipulation operations. Thework developed during this thesis, namely the automation of dexterous micromanipulation tasks,clearly fulfills these expectations. A trajectory planner taking into account the adhesion forces, specificto the micrometric scale, has been developed. The developed approach allows to automaticallygenerate optimal trajectories for the fingers of a micro-hand. The obtained trajectories demonstratethat the adhesion forces are particularly useful for grasping complex objects and also simplify themanipulation process. The developed method allows to manipulate and rotate any shape of objectin a plan. Also, the trajectories have been validated experimentally and thus open the way to therealization of three-dimensional micro-assemblies
Vu, Dinh-Son. "Synthèse sur la conception, commande et planification de trajectoire d'une interface de locomotion pour la réadaptation de la marche." Doctoral thesis, Université Laval, 2017. http://hdl.handle.net/20.500.11794/27756.
Cette thèse synthétise la conception d'une plateforme de marche destinée à la réadaptation des membres inférieurs pour le mouvement de la marche. L'automatisation du travail des thérapeutes, la réduction de leur charge de travail et la diversification des exercices pour les patients est un atout par rapport aux outils existants sur le marché tels que les tapis roulants ou les allées instrumentées pour la réadaptation. La conception d'une interface de locomotion pour la simulation de la marche présente des défis en terme de performance et de stabilité du mécanisme, de même que pour assurer la sécurité de l'utilisateur. L'équilibre de l'utilisateur doit être préservé grâce à une interaction humain-robot souple durant la phase d'élancement du pied et une sensation de rigidité lors de la phase d'appui. Dans un premier temps, la thèse présente le mouvement de la marche humaine pour trois types de milieux, c'est-à-dire la marche au sol, la marche d'escalier ascendante et la marche d'escalier descendante. Entre autres, le chapitre 1 cible les points essentiels de la cinématique et de la dynamique des membres inférieurs afin d'établir les exigences physiques pour la conception de la plateforme de marche. Le chapitre 2 introduit l'architecture mécanique de l'interface de locomotion basé sur deux systèmes indépendants de courroies déplaçant les deux effecteurs dans les translations horizontale et verticale, correspondant au plan sagittal dans lequel la majeure partie du mouvement de marche s'effectue. L'architecture du routage de courroies découple les degrés de liberté et simplifie ainsi la commande de la plateforme en séparant chaque degré de liberté en système indépendant. Cette architecture augmente également le rendement des efforts articulaires transmis aux effecteurs comparativement à un système dont les degrés de liberté sont co-dépendants. La thèse introduit ensuite la commande mise en place pour l'interaction entre le mécanisme et l'opérateur. Les exigences cinématiques et dynamiques diffèrent selon la phase d'élancement et la phase d'appui de la marche. Ainsi, le chapitre 3 présente la stratégie mise en place dans la direction horizontale pour minimiser les forces d'interaction entre l'utilisateur et l'effecteur. La commande en force permet, dans un premier temps, de diminuer l'inertie apparente de l'effecteur ressentie par l'utilisateur. Par la suite, un mécanisme passif à câbles est utilisé en tant qu'interface pour réduire davantage l'impédance ressentie du système. Le chapitre 4, quant à lui, décrit la stratégie mise en place pour gérer la phase d'appui de la marche afin de générer la contrainte rigide nécessaire à la simulation du sol virtuel. Le chapitre introduit la commande pour générer la limite virtuelle ainsi que la mise en place du système d'équilibrage statique à ressort à gaz pour diminuer le travail des moteurs et supporter le poids de la personne. Finalement, le chapitre 5 introduit la commande haut niveau pour générer le mouvement infini sur l'interface de locomotion avec un algorithme de recul, ramenant l'utilisateur dans la direction opposée à son mouvement pour générer l'espace nécessaire aux prochaines phases de marche, dans la direction horizontale comme pour le fonctionnement d'un tapis de course et dans la direction verticale, comme pour le fonctionnement d'un escalier mécanique inversé.
This thesis summarizes the design of a locomotion interface for gait rehabilitation. The aim of the mechanism is to alleviate the workload of therapists by automating the repetitive movements involved in the rehabilitation exercises. Moreover, by offering a larger panel of exercises, the locomotion interface should be an asset compared to standard treadmills or rehabilitation walkways. Walking simulation is a challenge in terms of performance, power and safety since the mechanism includes the user in the workspace of the effectors. The balance of the user should be ensured during the swing phase with a reduced human-robot interaction and reliable during the stance phase. First, Chapter 1 describes the walking motion, the stair climbing up and down movement and highlights their main kinematic and dynamic features. Chapter 2 then introduces the architecture of the locomotion interface based on independent belt routings which transmit the movement to two end-effectors that carry the user. Each foot platform has two degrees of freedom (dofs) corresponding to the horizontal and vertical translations in the sagittal plane. Decoupling the dofs simplifies the control of the locomotion interface and increases the efficiency of the torque of the motor sent to the end-effectors compared to systems with co-dependent degrees-of-freedom. Then, the thesis presents the strategies used to supervise the human-robot interaction. The kinematic and dynamic requirements are different during the swing phase and the stance phase of the human gait. Therefore, Chapter 3 introduces the force controllers that lighten the apparent inertia of the mechanism as well as the additional mechanism based on passive cables in order to further alleviate the impedance of the effector. Chapter 4 presents the controller that generates the vertical virtual constraint in order to produce the required reliable floor during the stance phase. The rendering of the virtual environment is improved with the implementation of a static balancing system based on gas springs that alleviates the workload of the motors that handle the weight of the user. Finally, Chapter 5 introduces the cancellation algorithm that generates the infinite environment. Horizontally, the user is brought backward such as on a treadmill. Vertically, the user is moved in the opposite direction of his/her movement such as in a reversed escalator.
Bullier, Hervé. "Calculs de proximité sous contraintes dans l'espace des nombres multivaleurs : application à la planification de trajectoire pour robot mobile." Metz, 1998. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/1998/Bullier.Herve.SMZ9825.pdf.
Bullier, Hervé Pruski Alain. "CALCULS DE PROXIMITE SOUS CONTRAINTES DANS L'ESPACE DES NOMBRES MULTIVALEURS. APPLICATION A LA PLANIFICATION DE TRAJECTOIRE POUR ROBOT MOBILE /." [S.l.] : [s.n.], 1998. ftp://ftp.scd.univ-metz.fr/pub/Theses/1998/Bullier.Herve.SMZ9825.pdf.
Mirabel, Joseph. "Manipulation planning for documented objects." Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/17745/1/Mirabel_Joseph_INPT.pdf.
Cherif, Moëz LAUGIER C. "PLANIFICATION DE MOUVEMENTS POUR UN ROBOT MOBILE AUTONOME TOUT-TERRAIN : UNE APPROCHE PAR UTILISATION DES MODELES PHYSIQUES /." [S.l.] : [s.n.], 1995. ftp://ftp.inria.fr/INRIA/publication/Theses/TU-0319.ps.gz.
Dougui, Nour Elhouda. "Planification de trajectoires avion : approche par analogie lumineuse." Phd thesis, Université Paul Sabatier - Toulouse III, 2011. http://tel.archives-ouvertes.fr/tel-00817551.
Allignol, Cyril. "Planification de trajectoires pour l'optimisation du trafic aérien." Thesis, Toulouse, INPT, 2011. http://www.theses.fr/2011INPT0104/document.
Air traffic in Europe represents about 30,000 flights each day and forecasts from Eurocontrol predict a growth of 70% by 2020 (50,000 flights per day). The airspace, made up of numerous control sectors, will soon be saturated given the current planification and control methods. In order to make the system able to cope with the predicted traffic growth, the air traffic controllers workload has to be reduced by automated systems that help them handle the aircraft separation task. Based on the traffic demand by airlines, this study proposes a new planning method for 4D trajectories that provides conflict-free traffic to the controller. This planning method consists of two successive steps, each handling a unique flight parameter : a flight level allocation phase followed by a ground holding scheme. We present constraint programming models and an evolutionary algorithm to solve these large scale combinatorial optimization problems, as well as techniques for improving the robustness of the model by handling uncertainties of takeoff times and trajectory prediction. Simulations carried out over the French airspace successfully solved all conflicts, with a mean of one minute allocated delay (80 to 90 minutes for the most delayed flight) and a discrepancy from optimal altitude of one flight level for most of the flights. Handling uncertainties with a static method leads to a dramatic increase in the cost of the previous non-robust solutions. However, we propose a dynamic model to deal with this matter, based on a sliding time horizon, which is likely to be able to cope with a few minutes of uncertainty with reasonable impact on the cost of the solutions