Process for the control of active moving body relative to a local passive environment with the aid of local proximetric transducers

Claim 1

Process for control of the movements of a sensitive, active moving body, moved by at least two actuators, relative to a local, passive environment, in accordance with at least one operating mode, characterized in that it comprises, for each operating mode, using at least two directional proximetric transducers C i , having a given origin mounted at a known location on the moving body and supplying a response nearly representing the distance x separating the origin of the transducer from an obstacle in the environment, in accordance with a known detection direction with respect to the moving body; allocating to each transducer C i a virtual elementary vectorial action A i , whose modulus is defined by the relation A i =m i ·f(x), m i being a coefficient constituting a virtual weighing mass of the action of said transducer and f(x) being an increasing monotonic function derived from the response of the transducer to an obstacle placed at a distance x, the application point of action A i being the origin M i of transducer C i ; determining on the basis of the thus defined elementary vectorial actions A i , a control screw of each actuator, the origin thereof coinciding with the origin 0 of a control frame associated with the actuators.