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| Commande prédictive pour la réalisation de tâches d'asservissement visuel successives (Predictive control for the achievement of successive visual servoing tasks) Cazy, Nicolas - (2016-11-29) / Universite de Rennes 1 - Commande prédictive pour la réalisation de tâches d'asservissement visuel successives
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Langue : Français Directeur(s) de thèse: Chaumette, François Discipline : Informatique Laboratoire : IRISA , INRIA-RENNES Ecole Doctorale : MATISSE Classification : Informatique Mots-clés : Vision par ordinateur, Asservissement visuel, Commande prédictive basée modèle
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Résumé : The computer vision is used for the achievement of many applications of modern robotics. One of the current research topics that aims to improve these systems is focused on command. The objective consists to propose original control schemes to effectively link the information measured by the vision sensor to the actions that are to be achieved with the robots. This document is part of this look by bringing new methods to classical robotic control involving vision, the visual servoing. The case of visual information losses during the achievement of a visual servoing task is studied. In this sense, two prediction methods that allow the task to be achieved despite these losses are presented. Then a new method of correction is proposed. This provides better prediction results than a conventional method, as shown by the results obtained in simulation and in real conditions. Finally, in the context of the achievement of several successive visual servoing tasks, a new method is presented. This exploits the characteristics of a control scheme used for several decades in industry and research, model based predictive control. The results obtained in simulation propose to see the effect of this method on the behavior of a drone that embeds a camera. Abstract : The computer vision is used for the achievement of many applications of modern robotics. One of the current research topics that aims to improve these systems is focused on command. The objective consists to propose original control schemes to effectively link the information measured by the vision sensor to the actions that are to be achieved with the robots. This document is part of this look by bringing new methods to classical robotic control involving vision, the visual servoing. The case of visual information losses during the achievement of a visual servoing task is studied. In this sense, two prediction methods that allow the task to be achieved despite these losses are presented. Then a new method of correction is proposed. This provides better prediction results than a conventional method, as shown by the results obtained in simulation and in real conditions. Finally, in the context of the achievement of several successive visual servoing tasks, a new method is presented. This exploits the characteristics of a control scheme used for several decades in industry and research, model based predictive control. The results obtained in simulation propose to see the effect of this method on the behavior of a drone that embeds a camera. | |||