Flexible Virtual Structure Consideration in Dynamic Modeling of Mobile Robots Formation - Archive ouverte HAL
Communication Dans Un Congrès Année : 2009

Flexible Virtual Structure Consideration in Dynamic Modeling of Mobile Robots Formation

Résumé

In cooperative mobile robotics, we look for formation keeping and maintenance of a geometric configuration during movement. As a solution to these problems, the concept of a virtual structure is considered. Based on this idea, we have developed an efficient flexible virtual structure, describing the dynamic model of n vehicles in formation and where the whole formation is kept dependant. Notes 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 in this paper, gives more capabilities to the formation to avoid obstacles in hostile environment while keeping formation and avoiding inter‐agent collision.
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Dates et versions

hal-00668050 , version 1 (06-01-2020)

Identifiants

Citer

Asma Essghaier, Lotfi Beji, Jean Lerbet, Azgal Abichou. Flexible Virtual Structure Consideration in Dynamic Modeling of Mobile Robots Formation. 2nd Mediterranean Conference on Intelligent Systems and Automation (CISA 2009), Mar 2009, Zarzis, Tunisia. pp.296--301, ⟨10.1063/1.3106489⟩. ⟨hal-00668050⟩
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