Modelisation et commande stochastique des robots dans un environnement fluide

Abstract

Le developpement de robots pouvant travailler de facon autonome dans un environnement naturel necessite une connaissance de l'interaction entre le robot et cet environnement, et le developpement d'un systeme de commande pouvant controler efficacement le comportement d'un robot soumis a des perturbations stochastiques continuelles. Le developpement d'un modele dynamique incluant les effets d'interaction entre un robot et un milieu fluide en mouvement a ete fait. Ce modele necessite l'utilisation d'approximations pour permettre un calcul rapide des forces qu'exerce le fluide sur le robot. Le comportement d'un robot dans un tel environnement a ensuite ete etudie en simulant un environnemen fluide perturbe. L'utilisation de systemes de commande stochastique adaptative, tenant compte de la nature de l'environnement permet d'obtenir un comportement moyen du robot tres acceptable, meme sous des perturbations tres importantes.

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The development of robots that can work autonomously in a natural environment requires knowledge of the interaction between the robot and this environment, and the development of a control system that can effectively control the behavior of a robot subjected to stochastic disturbances. continual. The development of a dynamic model including the effects of interaction between a robot and a moving fluid medium has been made. This model requires the use of approximations to allow a rapid calculation of the forces exerted by the fluid on the robot. The behavior of a robot in such an environment was then studied by simulating a perturbed fluid environment. The use of adaptive stochastic control systems, taking into account the nature of the environment, makes it possible to obtain a very acceptable average behavior of the robot, even under very significant disturbances.