A Decentralized Adaptive Trajectory Planning Approach for a Group of Mobile Robots

Abstract : This work studies and proposes a remote control architecture for a set of nonholonomic robotic vehicles. We used a new decentralized control strategy based on the Leader-Follower principle, the GPS information, and signal level of the wireless communication to generate an optimal path for each nonholonomic robot. We incorporate a reactive term in the optimization process based on the Deformable Virtual Zones (DVZ) that modifies the path of each robot for a given ultrasound sensor information of each robot in order to get away from obstacles.
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Communication dans un congrès
TAROS: Towards Autonomous Robotic Systems, Sep 2005, London, United Kingdom. pp.65-72, 2005
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00106500
Contributeur : Christine Carvalho de Matos <>
Soumis le : lundi 16 octobre 2006 - 08:29:54
Dernière modification le : jeudi 11 janvier 2018 - 06:26:17
Document(s) archivé(s) le : samedi 14 mai 2011 - 00:10:51

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Arturo Gil-Pinto, Philippe Fraisse, René Zapata. A Decentralized Adaptive Trajectory Planning Approach for a Group of Mobile Robots. TAROS: Towards Autonomous Robotic Systems, Sep 2005, London, United Kingdom. pp.65-72, 2005. 〈lirmm-00106500〉

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