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Pilote Automatique Biomimetique
Paperback
Series: Omn.Univ.Europ.
Literary CriticismTechnology & Engineering
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ISBN10: 613152534X
ISBN13: 9786131525346
Publisher: Ed Universitaires Europeennes
Published: Feb 28 2018
Pages: 200
Weight: 0.66
Height: 0.46 Width: 5.98 Depth: 9.02
Language: French
ISBN13: 9786131525346
Publisher: Ed Universitaires Europeennes
Published: Feb 28 2018
Pages: 200
Weight: 0.66
Height: 0.46 Width: 5.98 Depth: 9.02
Language: French
Le pilote automatique appelé OCTAVE s'appuie sur une hypothèse des années 1950 selon laquelle un insecte pourrait naviguer selon une vitesse (de l'image) rétinienne préférée perçue par la partie ventrale de son oeil composé. Nous avons formalisé et validé ce principe en le mettant en oeuvre à bord d'un micro-hélicoptère doté d'un Détecteur Elémentaire de Mouvement (DEM) électronique, capteur visuel capable d'estimer le flux optique généré par le mouvement mème de l'appareil. Nous avons montré expérimentalement sur ce robot captif qu'une boucle de régulation du flux optique conduit l'appareil à éviter les collisions avec le sol en effectuant un suivi de terrain à distance de sécurité, mème en présence de vent contraire ou de vent arrière. Mieux encore, une simple commande de tangage conduit l'appareil à décoller ou atterrir automatiquement. Ces performances sont notoires eu égard au caractère minimaliste du traitement réalisé à bord, compatible avec la faible capacité d'emport d'un micro-aéronef (naturel ou artificiel) de masse inférieure à 100 grammes. Le système permet à un aéronef de s'affranchir de son avionique traditionnelle, constituée de capteurs lourds et onéreux.
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