Skip to Main content Skip to Navigation
Conference papers

Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging

Abstract : This paper deals with intelligent autonomous navigation of a vehicle in cluttered environment. We present a control architecture for safe and smooth navigation of a Unmanned Ground Vehicles (UGV). This control architecture is designed to allow the use of a single control law for different vehicle contexts (attraction to the target, obstacle avoidance, etc.) [4]. The reactive obstacle avoidance strategy is based on the limit-cycle approach [2]. To manage the interaction between the controllers according to the context, the multi-agent system is proposed. Multi-agent systems are an efficient approach for problem solving and decision making. They can be applied to a wide range of applications thanks to their intrinsic properties such as self-organization/emergent phenomena. Merging approach between control laws is based on their properties to adapt the control to the environment. Different simulations on cluttered environments show the performance and the efficiency of our proposal, to obtain fully reactive and safe control strategy, for the navigation of a UGV.
Document type :
Conference papers
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01575898
Contributor : Vincent Cheutet <>
Submitted on : Friday, February 23, 2018 - 12:38:35 AM
Last modification on : Wednesday, September 16, 2020 - 11:26:02 AM
Long-term archiving on: : Thursday, May 24, 2018 - 12:42:34 PM

File

2015_Dafflon_PCS.pdf
Publisher files allowed on an open archive

Identifiers

Citation

Baudouin Dafflon, Jose Vilca, Franck Gechter, Lounis Adouane. Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging. 15th Annual International Conference on Computational Science (ICCS 2015), Jun 2015, Reykjavik, Iceland. pp.423--432, ⟨10.1016/j.procs.2015.05.262⟩. ⟨hal-01575898⟩

Share

Metrics

Record views

309

Files downloads

495