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

Abstract : — 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.
Type de document :
Communication dans un congrès
IEEE Intelligent Vehicles Symposium (IV), Jun 2013, Gold Coast, Australia
Liste complète des métadonnées

Littérature citée [13 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01714844
Contributeur : Lounis Adouane <>
Soumis le : vendredi 23 février 2018 - 00:21:47
Dernière modification le : mercredi 31 octobre 2018 - 17:42:02
Document(s) archivé(s) le : jeudi 24 mai 2018 - 14:34:44

Fichier

2013_Benzerrouk_IV.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01714844, version 1

Citation

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〉

Partager

Métriques

Consultations de la notice

215

Téléchargements de fichiers

8