Trajectory Generation for a Formation of Mobile Robots via A Flexible Virtual Structure Approach - Archive ouverte HAL
Communication Dans Un Congrès Année : 2009

Trajectory Generation for a Formation of Mobile Robots via A Flexible Virtual Structure Approach

Résumé

Formation keeping and motion coordination are key problems in cooperative robotics. As a solution to these problems, the concept of a virtual structure is considered. Based on this idea, we have developed a new flexible virtual structure approach, describing the dynamic model of n vehicles in formation. The developed model is linear, simple to command without need to linearization tools. Note that, for 2D and 3D space navigation, only a rigid virtual structure was proposed in the literature. Further, the problem was limited to a kinematic behavior of the structure. Hence, the flexible virtual structure in dynamic modeling of mobile robots formation presented, gives more capabilities to the formation to avoid obstacles in hostile environment while keeping formation and avoiding inter-agent collision.The stability of the system in the neighborhood of the the desired configuration is studied and sufficient con-ditions to recall robots to the desired shape of the formation over time are developed. Smooth trajectories of the formation are generated. These trajectories joining an initial configuration to a final desired one, are generated in an hostile environment, with presence of obstacles.The flexible virtual structure guarantees an inter-agent collision free motion while keeping formation and avoiding obstacles.
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Dates et versions

hal-00653667 , version 1 (20-12-2011)

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Citer

Mohamed Anouar El Kamel, Lotfi Beji, Jean Lerbet, Azgal Abichou. Trajectory Generation for a Formation of Mobile Robots via A Flexible Virtual Structure Approach. Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR'09), Sep 2009, Istanbul, Turkey. pp.819--826, ⟨10.1142/9789814291279_0100⟩. ⟨hal-00653667⟩
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