Perception multisensorielle pour le positionnement d'un véhicule autonome dédié aux personnes handicapés moteurs

Abstract : The work of this thesis deals with localization mode developed within the VAHM project framework (Autonomous Vehicle for Disabled People). The procedure is realized in moving and uses odometric, ultrasonic and vision sensors. Firstly ultrasonic measurements make it possible to adjust the odometric position by using the method of least squares. Then vision allows to adjust the orientation of the vehicle by determining the angle of sight of the known characteristics of the environment. We detail the implemented structures to record the data and the algorithms developed for their treatment. Several series of tests are carried out in simulation and real conditions which make it possible to establish the possibilities of obtaining the performances sought in the context of the project to knowing an error of position lower than 5 cm and an error of orientation lower than 3 deg.
Document type :
Theses
Complete list of metadatas

Cited literature [99 references]  Display  Hide  Download

https://hal.univ-lorraine.fr/tel-01750159
Contributor : Thèses Ul <>
Submitted on : Thursday, March 29, 2018 - 12:39:36 PM
Last modification on : Monday, April 16, 2018 - 10:42:43 AM

File

Kreutner.Michel.SMZ0417.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : tel-01750159, version 1

Collections

Citation

Michel Kreutner. Perception multisensorielle pour le positionnement d'un véhicule autonome dédié aux personnes handicapés moteurs. Autre. Université Paul Verlaine - Metz, 2004. Français. ⟨NNT : 2004METZ017S⟩. ⟨tel-01750159⟩

Share

Metrics

Record views

532

Files downloads

200