A Decentralized Adaptive Trajectory Planning Approach for a Group of Mobile Robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2005

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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Dates and versions

lirmm-00106500 , version 1 (16-10-2006)

Identifiers

  • HAL Id : lirmm-00106500 , version 1

Cite

Arturo Gil-Pinto, Philippe Fraisse, René Zapata. A Decentralized Adaptive Trajectory Planning Approach for a Group of Mobile Robots. TAROS 2005 - 6th Annual Conference Towards Autonomous Robotic Systems, Sep 2005, London, United Kingdom. pp.65-72. ⟨lirmm-00106500⟩
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