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

Baudouin Dafflon (1) , Jose Vilca , Franck Gechter (2) , Lounis Adouane (3)

1 DISP - Décision et Information pour les Systèmes de Production
2 IRTES - SET - Laboratoire Systèmes et Transports
3 IP - Institut Pascal

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.

Mots clés: Multi-agent systems; Autonomous vehicles; Hybrid architecture; Obstacle avoidance

Domaines: Recherche opérationnelle [math.OC]

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⟩