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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Submitted on : Monday, October 16, 2006 - 8:29:54 AM
Last modification on : Thursday, February 28, 2019 - 2:38:22 PM
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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. ⟨lirmm-00106500⟩

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