L. Comportement, image est représenté en Figure 4.45. (a) Image embarquée (iter. 240) (b) Image embarquée (iter. 650) (c) Image embarquée finale (d) Image déportée (iter. 240) (e) Image déportée (iter. 650) (f) Image déportée finale

. La-trajectoire-correspondante-décrit-bien-une-boucle-surplombant-les-autres, le comportement est comme nous l'avons vu de se décaler sur le côté Ce phénomène appara??tappara??t nettement sur la trajectoire correspondante Ce mouvement sur le côté est rendu impossible par l'activation de l'´ evitement de butées (cas 3, rouge) La trajectoire suivie est alors légèrement plus proche de la caméra déportée. Seul le cas 1 (asservissement visuel hybride) rejoint la pose désirée (caméra rouge en traits pleins) La pose finale des cas 2 et 3 (traits pointillés) est en effet légèrement différente, du fait de la contrainte de visibilité dans l'image déportée, Le choix de paramétrer l'intervalle de confiance par ? = 5% fait que les contraintes peuventêtrepeuventêtre approchées d'assez près pour réaliser au mieux la tâche de positionnement (toujours pondéréè a 1). Une conséquence est que les poids atteignent des valeurs relativementélevéesrelativementélevées. Toutefois nous avons pu voir que le comportement restait satisfaisant

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