Obstacle Avoidance Controller Generating Attainable Set-points for the Navigation of Multi-Robot System

Ahmed Benzerrouk (1) , Lounis Adouane (2) , Philippe Martinet (3)

1 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
2 IP - Institut Pascal
3 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

— This paper considers the navigation in formation of a mobile Multi-Robot System (MRS) in presence of obstacles. In such areas, the collision avoidance between the robots themselves and with other obstacles (static and dynamic) is a challenging issue. To deal with it, a reactive and a distributed control architecture is built. The navigation in formation of the MRS is ensured while tracking a global virtual structure (first controller). Limit-cycle principle is used to compute the set-point of the obstacle avoidance task (second controller). In this paper, kinematic constraints of the robot are taken into account in order to generate an attainable set-point. The objective is to guarantee safety of the mobile robots with respect to their maximum velocities. Simulation and experimental results validate the proposed contributions.

Domaines: Automatique / Robotique; Automatique; Intelligence artificielle [cs.AI]; Robotique [cs.RO]; Systèmes et contrôle [cs.SY]

Ahmed Benzerrouk, Lounis Adouane, Philippe Martinet. Obstacle Avoidance Controller Generating Attainable Set-points for the Navigation of Multi-Robot System. IEEE Intelligent Vehicles Symposium (IV), Jun 2013, Gold Coast, Australia. ⟨hal-01714844⟩