Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Commissariat a L'energie Atomique

Alain Micaelli

François-Xavier Russotto

Eric Lucet

Jean Vertut

Paul Marchal

Jean-Marie Detriche

Claude Andriot

Jack Guittet

Vincent Weistroffer

A method includes at least the following phases: a first phase wherein a path to be followed is generated, the path being subdivided into a series of sections of which the starting point forms an intermediate position; a second phase wherein, at the current intermediate position of the vehicle: a non-zero curvature is defined for each of the next n prediction horizon sections, the curvature varying progressively from one section to the next; a prediction is made, before the vehicle engages a movement, as to whether the path can be followed to the prediction horizon, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; a third phase wherein, if the path can be followed, the steering lock angle of the front wheels and the linear traction speed of the vehicle are controlled as a function of the state of the vehicle and of the lateral and/or longitudinal slips to line up the centre of the axle of the rear wheels on the path; if the path cannot be followed, the vehicle is realigned towards the target position and a new reference path is generated according to the first phase.

Method for automatically driving a vehicle under constraint, in particular a bus in a storage facility, and device implementing such a method

A method comprises: a preliminary phase wherein a vehicle is aligned to be engaged toward a target position; a first phase wherein a reference trajectory is generated as a function of the status and target position of the vehicle, the status defined by the current position and orientation of the vehicle; a second phase wherein the reference trajectory being divided into sections, at the start of each section and before the vehicle begins a movement whether the reference trajectory can be followed is predicted as a function of imposed overall size constraints and estimated lateral and/or longitudinal slippages; a third phase, if the trajectory can be followed, wherein the turn angle of the wheels and the linear traction speed of the vehicle are controlled as a function of the status of the vehicle and the lateral and/or longitudinal slippages, to bring the centers of the wheels onto the reference trajectory.

Automatic control method for the insertion and the extraction of a vehicle into and from a receiving station, and control device implementing a method of this kind

A method of controlling motion on the ground of a device having at least two legs comprising: obtaining current values of dynamic state variables of the device; optimizing a movement command for the device under constraints while taking account of said current values and of a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least on a first leg, and then from an instant in which the center of pressure on the ground is changed, at least on a second leg; and applying said movement command; wherein said optimization is performed on the assumption that the gravity potential energy of the device in the second state is a local maximum as a function of time.

Method of controlling a robot

A process for relocking a driverless, robotized vehicle (1) on a theoretical trajectory (T.sub.th2) in which during the passage of the vehicle through a joining section (S.sub.1), the curvature of the trajectory of the vehicle (1) is progressively modified as a function of the instantaneous curvature and the heading or course (.theta.). Thus, there are no orientation discontinuities along the trajectory, which imposes no impossible operating conditions on the drive members of the vehicle, but still makes it possible to converge rapidly with the theoretical trajectory.

Process for relocking on a theoretical trajectory for a vehicle, whilst

A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, .tau.. At the master actuator, the servocontrol is realized by means of two devices supplying force signals, where the smaller is applied to the master actuator, but having the polarity of the signal supplied by a first servocontrol device. The latter compares, in a known manner the position signal .theta.(t) of the master actuator with the delay position signal .theta.'(t-.tau.) of the slave actuator, whereas a second servocontrol device compares the delayed position signal .theta.(t-2.tau.) with signal .theta.'(t-.tau.). The invention may be used in manipulators, the control of the flying of a missile and any other control requiring the proportioning of the force controlling a movement of a machine.

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Fontenay-aux-Roses, France

Alain Micaelli