Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging
International audience This paper deals with intelligent autonomous navigation of a vehicle in cluttered environment. We present a control architecture for safe and smooth navigation of a Unmanned Ground Vehicles (UGV). This control architecture is designed to allow the use of a single control law f...
Published in: | Procedia Computer Science |
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Online Access: | https://hal.archives-ouvertes.fr/hal-01575898 https://hal.archives-ouvertes.fr/hal-01575898/document https://hal.archives-ouvertes.fr/hal-01575898/file/2015_Dafflon_PCS.pdf https://doi.org/10.1016/j.procs.2015.05.262 |
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ftccsdartic:oai:HAL:hal-01575898v1 2023-05-15T16:50:09+02:00 Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging Dafflon, Baudouin Vilca, Jose Gechter, Franck Adouane, Lounis Décision et Information pour les Systèmes de Production (DISP) Institut National des Sciences Appliquées de Lyon (INSA Lyon) Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université Claude Bernard Lyon 1 (UCBL) Université de Lyon-Université Lumière - Lyon 2 (UL2) Laboratoire Systèmes et Transports (IRTES - SET) Université de Technologie de Belfort-Montbeliard (UTBM)-Institut de Recherche sur les Transports, l'Energie et la Société - IRTES Institut Pascal (IP) SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne 2017-2020 (UCA 2017-2020 )-Centre National de la Recherche Scientifique (CNRS) Koziel S and Leifsson L and Lees M and Krzhizhanovskaya VV and Dongarra J and Sloot PMA Reykjavik, Iceland 2015-06-01 https://hal.archives-ouvertes.fr/hal-01575898 https://hal.archives-ouvertes.fr/hal-01575898/document https://hal.archives-ouvertes.fr/hal-01575898/file/2015_Dafflon_PCS.pdf https://doi.org/10.1016/j.procs.2015.05.262 en eng HAL CCSD ELSEVIER SCIENCE BV info:eu-repo/semantics/altIdentifier/doi/10.1016/j.procs.2015.05.262 hal-01575898 https://hal.archives-ouvertes.fr/hal-01575898 https://hal.archives-ouvertes.fr/hal-01575898/document https://hal.archives-ouvertes.fr/hal-01575898/file/2015_Dafflon_PCS.pdf doi:10.1016/j.procs.2015.05.262 info:eu-repo/semantics/OpenAccess 15th Annual International Conference on Computational Science (ICCS 2015) https://hal.archives-ouvertes.fr/hal-01575898 15th Annual International Conference on Computational Science (ICCS 2015), Jun 2015, Reykjavik, Iceland. pp.423--432, ⟨10.1016/j.procs.2015.05.262⟩ Multi-agent systems Autonomous vehicles Hybrid architecture Obstacle avoidance [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO] info:eu-repo/semantics/conferenceObject Conference papers 2015 ftccsdartic https://doi.org/10.1016/j.procs.2015.05.262 2021-04-03T23:01:01Z International audience This paper deals with intelligent autonomous navigation of a vehicle in cluttered environment. We present a control architecture for safe and smooth navigation of a Unmanned Ground Vehicles (UGV). This control architecture is designed to allow the use of a single control law for different vehicle contexts (attraction to the target, obstacle avoidance, etc.) [4]. The reactive obstacle avoidance strategy is based on the limit-cycle approach [2]. To manage the interaction between the controllers according to the context, the multi-agent system is proposed. Multi-agent systems are an efficient approach for problem solving and decision making. They can be applied to a wide range of applications thanks to their intrinsic properties such as self-organization/emergent phenomena. Merging approach between control laws is based on their properties to adapt the control to the environment. Different simulations on cluttered environments show the performance and the efficiency of our proposal, to obtain fully reactive and safe control strategy, for the navigation of a UGV. Conference Object Iceland Archive ouverte HAL (Hyper Article en Ligne, CCSD - Centre pour la Communication Scientifique Directe) Procedia Computer Science 51 423 432 |
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Open Polar |
collection |
Archive ouverte HAL (Hyper Article en Ligne, CCSD - Centre pour la Communication Scientifique Directe) |
op_collection_id |
ftccsdartic |
language |
English |
topic |
Multi-agent systems Autonomous vehicles Hybrid architecture Obstacle avoidance [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO] |
spellingShingle |
Multi-agent systems Autonomous vehicles Hybrid architecture Obstacle avoidance [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO] Dafflon, Baudouin Vilca, Jose Gechter, Franck Adouane, Lounis Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging |
topic_facet |
Multi-agent systems Autonomous vehicles Hybrid architecture Obstacle avoidance [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO] |
description |
International audience This paper deals with intelligent autonomous navigation of a vehicle in cluttered environment. We present a control architecture for safe and smooth navigation of a Unmanned Ground Vehicles (UGV). This control architecture is designed to allow the use of a single control law for different vehicle contexts (attraction to the target, obstacle avoidance, etc.) [4]. The reactive obstacle avoidance strategy is based on the limit-cycle approach [2]. To manage the interaction between the controllers according to the context, the multi-agent system is proposed. Multi-agent systems are an efficient approach for problem solving and decision making. They can be applied to a wide range of applications thanks to their intrinsic properties such as self-organization/emergent phenomena. Merging approach between control laws is based on their properties to adapt the control to the environment. Different simulations on cluttered environments show the performance and the efficiency of our proposal, to obtain fully reactive and safe control strategy, for the navigation of a UGV. |
author2 |
Décision et Information pour les Systèmes de Production (DISP) Institut National des Sciences Appliquées de Lyon (INSA Lyon) Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université Claude Bernard Lyon 1 (UCBL) Université de Lyon-Université Lumière - Lyon 2 (UL2) Laboratoire Systèmes et Transports (IRTES - SET) Université de Technologie de Belfort-Montbeliard (UTBM)-Institut de Recherche sur les Transports, l'Energie et la Société - IRTES Institut Pascal (IP) SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne 2017-2020 (UCA 2017-2020 )-Centre National de la Recherche Scientifique (CNRS) Koziel S and Leifsson L and Lees M and Krzhizhanovskaya VV and Dongarra J and Sloot PMA |
format |
Conference Object |
author |
Dafflon, Baudouin Vilca, Jose Gechter, Franck Adouane, Lounis |
author_facet |
Dafflon, Baudouin Vilca, Jose Gechter, Franck Adouane, Lounis |
author_sort |
Dafflon, Baudouin |
title |
Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging |
title_short |
Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging |
title_full |
Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging |
title_fullStr |
Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging |
title_full_unstemmed |
Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging |
title_sort |
adaptive autonomous navigation using reactive multi-agent system for control law merging |
publisher |
HAL CCSD |
publishDate |
2015 |
url |
https://hal.archives-ouvertes.fr/hal-01575898 https://hal.archives-ouvertes.fr/hal-01575898/document https://hal.archives-ouvertes.fr/hal-01575898/file/2015_Dafflon_PCS.pdf https://doi.org/10.1016/j.procs.2015.05.262 |
op_coverage |
Reykjavik, Iceland |
genre |
Iceland |
genre_facet |
Iceland |
op_source |
15th Annual International Conference on Computational Science (ICCS 2015) https://hal.archives-ouvertes.fr/hal-01575898 15th Annual International Conference on Computational Science (ICCS 2015), Jun 2015, Reykjavik, Iceland. pp.423--432, ⟨10.1016/j.procs.2015.05.262⟩ |
op_relation |
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.procs.2015.05.262 hal-01575898 https://hal.archives-ouvertes.fr/hal-01575898 https://hal.archives-ouvertes.fr/hal-01575898/document https://hal.archives-ouvertes.fr/hal-01575898/file/2015_Dafflon_PCS.pdf doi:10.1016/j.procs.2015.05.262 |
op_rights |
info:eu-repo/semantics/OpenAccess |
op_doi |
https://doi.org/10.1016/j.procs.2015.05.262 |
container_title |
Procedia Computer Science |
container_volume |
51 |
container_start_page |
423 |
op_container_end_page |
432 |
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1766040329133228032 |