Etude de lois de navigation pour la recherche de sources de gaz
Identifieur interne : 005611 ( Hal/Checkpoint ); précédent : 005610; suivant : 005612Etude de lois de navigation pour la recherche de sources de gaz
Auteurs : Etienne Hugues [France] ; Nicolas Ginder [France] ; Dominique Martinez [France]Source :
Descripteurs français
- mix :
Abstract
On dérive, dans une situation homogène et stationnaire, une famille de lois de navigation L(n) (0 < n < 1) pour un robot à la recherche d'une source de gaz. Ces lois lui permettent de converger vers la direction de la source et d'y rester de manière stable. Dans une situation inhomogène et en présence de bruit, ce dernier étant autant dû à la turbulence qu'au système permettant d'estimer la concentration en fonction des données des capteurs, la loi L(1/2) se révèle la plus efficace. Les performances restent étonnamment élevées même pour un bruit fort.
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Hal:inria-00099417Le document en format XML
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<front><div type="abstract" xml:lang="fr">On dérive, dans une situation homogène et stationnaire, une famille de lois de navigation L(n) (0 < n < 1) pour un robot à la recherche d'une source de gaz. Ces lois lui permettent de converger vers la direction de la source et d'y rester de manière stable. Dans une situation inhomogène et en présence de bruit, ce dernier étant autant dû à la turbulence qu'au système permettant d'estimer la concentration en fonction des données des capteurs, la loi L(1/2) se révèle la plus efficace. Les performances restent étonnamment élevées même pour un bruit fort.</div>
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<abstract xml:lang="fr">On dérive, dans une situation homogène et stationnaire, une famille de lois de navigation L(n) (0 < n < 1) pour un robot à la recherche d'une source de gaz. Ces lois lui permettent de converger vers la direction de la source et d'y rester de manière stable. Dans une situation inhomogène et en présence de bruit, ce dernier étant autant dû à la turbulence qu'au système permettant d'estimer la concentration en fonction des données des capteurs, la loi L(1/2) se révèle la plus efficace. Les performances restent étonnamment élevées même pour un bruit fort.</abstract>
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