Toward an hybrid control architecture for a mobile multi-robot systems
| Autor: | Benzerrouk, Ahmed, Adouane, Lounis, Martinet , Philippe, Andreff, Nicolas |
|---|---|
| Přispěvatelé: | Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Centre National de la Recherche Scientifique (CNRS), Institut Pascal (IP), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2008 |
| Předmět: |
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering
Lyapunov stability Hybrid architecture [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Mobile robots control [SPI.AUTO]Engineering Sciences [physics]/Automatic [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] |
| Zdroj: | 3rd National Conference on Control Architectures of Robots (CAR08) 3rd National Conference on Control Architectures of Robots (CAR08), May 2008, Bourges, France |
| Popis: | International audience; Hybrid architecture for autonomous navigation robots is presented in this paper. The principal future aim of this architecture is to achieve multi-robot convoy which must navigate in urban background, where autonomous vehicles have to track the desired trajectory while avoiding possible obstacles (walkers, other robots, etc.). Currently, we consider only the case of fixed obstacles. We propose to coordinate two continuous controllers (trajectory tracking and obstacle avoidance) by discrete events. However, hard switch from obstacle avoidance to trajectory following controller, may cause collision or undesired effects due to nonholonomic constraint or switching effects. Therefore, we introduce a third controller to overcome these drawbacks. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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