FR3055256B1 - Vehicule autonome compliant et procede de commande associe - Google Patents

Vehicule autonome compliant et procede de commande associe Download PDF

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Publication number
FR3055256B1
FR3055256B1 FR1658067A FR1658067A FR3055256B1 FR 3055256 B1 FR3055256 B1 FR 3055256B1 FR 1658067 A FR1658067 A FR 1658067A FR 1658067 A FR1658067 A FR 1658067A FR 3055256 B1 FR3055256 B1 FR 3055256B1
Authority
FR
France
Prior art keywords
compliant
control method
autonomous vehicle
autonomous
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR1658067A
Other languages
English (en)
Other versions
FR3055256A1 (fr
Inventor
Faiz Ben Amar
Christophe Grand
Arthur Bouton
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Universite Pierre et Marie Curie Paris 6
Original Assignee
Centre National de la Recherche Scientifique CNRS
Universite Pierre et Marie Curie Paris 6
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National de la Recherche Scientifique CNRS, Universite Pierre et Marie Curie Paris 6 filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR1658067A priority Critical patent/FR3055256B1/fr
Priority to PCT/FR2017/052312 priority patent/WO2018042131A1/fr
Publication of FR3055256A1 publication Critical patent/FR3055256A1/fr
Application granted granted Critical
Publication of FR3055256B1 publication Critical patent/FR3055256B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
    • B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/32—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being rockable about a horizontal pivot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/16—Extraterrestrial cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/13—Independent suspensions with longitudinal arms only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/07—Off-road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/46—Arctic-/Extraterrestric explorers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
FR1658067A 2016-08-31 2016-08-31 Vehicule autonome compliant et procede de commande associe Expired - Fee Related FR3055256B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1658067A FR3055256B1 (fr) 2016-08-31 2016-08-31 Vehicule autonome compliant et procede de commande associe
PCT/FR2017/052312 WO2018042131A1 (fr) 2016-08-31 2017-08-31 Véhicule autonome compliant et procédé de commande associé

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1658067A FR3055256B1 (fr) 2016-08-31 2016-08-31 Vehicule autonome compliant et procede de commande associe
FR1658067 2016-08-31

Publications (2)

Publication Number Publication Date
FR3055256A1 FR3055256A1 (fr) 2018-03-02
FR3055256B1 true FR3055256B1 (fr) 2018-08-17

Family

ID=57485638

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1658067A Expired - Fee Related FR3055256B1 (fr) 2016-08-31 2016-08-31 Vehicule autonome compliant et procede de commande associe

Country Status (2)

Country Link
FR (1) FR3055256B1 (fr)
WO (1) WO2018042131A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108839822B (zh) * 2018-04-13 2020-04-10 北京控制工程研究所 一种可重复飞行轮腿复合移动机器人
CN108945520B (zh) * 2018-07-10 2021-01-29 上海交通大学 腿式着陆巡视机器人
CN111220113B (zh) * 2020-01-13 2021-10-19 哈尔滨工程大学 一种管道拐弯角检测方法
CN115195900B (zh) * 2022-06-22 2023-07-25 中国农业大学 一种丘陵山地仿生机械轮腿式无人底盘全向调平位姿控制方法
CN115384257A (zh) * 2022-08-19 2022-11-25 山东大学 前后式隧道监测机器人悬挂底盘、机器人及方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE569442A (fr) * 1957-10-17 1958-07-31
FR1493241A (fr) * 1965-09-16 1967-08-25 Lockheed Aircraft Corp Véhicule tout terrain articulé
FR2508391A2 (fr) * 1981-06-29 1982-12-31 Hildebrand Georges Vehicule automobile tout-terrain et amphibie
EP1118531A1 (fr) * 2000-01-21 2001-07-25 Ecole Polytechnique Federale De Lausanne Véhicule pour terrain accidenté
CN101380978A (zh) * 2008-08-08 2009-03-11 山东科技大学 虾形六轮移动机器人
CN103448831B (zh) * 2013-09-16 2016-01-13 北京交通大学 一种越障载运机器人

Also Published As

Publication number Publication date
WO2018042131A1 (fr) 2018-03-08
FR3055256A1 (fr) 2018-03-02

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Year of fee payment: 2

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Effective date: 20180302

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Year of fee payment: 3

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Effective date: 20200406