An overall control strategy based on target reaching for the navigation of an urban electric vehicle

Vilca, José Miguel; Adouane, Lounis; Mezouar, Youcef; Lébraly, Pierre

doi:10.1109/iros.2013.6696432

Cited by 9 publications

(22 citation statements)

References 21 publications

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“…subsection 2.2). The control law is synthesized according to Lyapunov theorem (more details are given in [23]). The main blocks of the architecture are detailed below.…”

Section: Control Architecturementioning

confidence: 99%

“…The used control law is designed according to Lyapunov stability analysis [23]. The desired vehicle's linear velocity v and its front wheel orientation γ that make the errors (e x , e y , e θ ) converge always to zero can be chosen as:…”

Section: Control Lawmentioning

confidence: 99%

“…the assigned target. K x , K RT and k θ are related to the maximum linear and angular velocities (more details are given in [23]). …”

Section: Control Lawmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Leader-Follower Formation in Cluttered Environment Using Dynamic Target Reconfiguration

Vilca

Adouane

Mezouar

2016

Springer Tracts in Advanced Robotics

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This paper presents a control architecture for safe and smooth navigation of a group of Unmanned Ground Vehicles (UGV) while keeping a specific formation. The formation control is based on Leader-follower and Behavioral approaches. The proposed control architecture is designed to allow the use of a single control law for different multi-vehicle contexts (navigation in formation, transition between different formation shapes, obstacle avoidance, etc.). The obstacle avoidance strategy is based on the limit-cycle approach while taking into account the dimension of the formation. A new Strategy for Formation Reconfiguration (SFR) of the group of UGVs based on suitable smooth switching of the set-points (according, for instance, to the encountered obstacles or the new task to achieve) is proposed. The inter-vehicles collisions are avoided during the SFR using a penalty function acting on the vehicle velocities. Different simulations on cluttered environments show the performance and the efficiency of the proposal, to obtain fully reactive and distributed control strategy for the navigation in formation of a group of UGVs.

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“…subsection 2.2). The control law is synthesized according to Lyapunov theorem (more details are given in [23]). The main blocks of the architecture are detailed below.…”

Section: Control Architecturementioning

confidence: 99%

Section: Control Lawmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Leader-Follower Formation in Cluttered Environment Using Dynamic Target Reconfiguration

Vilca

Adouane

Mezouar

2016

Springer Tracts in Advanced Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…In this work, a single control law for the UGV (tricycle robot) is used [20]. It considers the vehicle postures and velocities.…”

Section: Control Architecturementioning

confidence: 99%

“…subsection 2.2). The control law is synthesized according to Lyapunov theorem (more details are given in [20]). The main blocks of the architecture are detailed below.…”

Section: Control Architecturementioning

confidence: 99%

Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging

Dafflon¹,

Vilca²,

Gechter³

et al. 2015

Procedia Computer Science

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International audienceThis 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

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Optimal Multi-Criteria Waypoint Selection for Autonomous Vehicle Navigation in Structured Environment

Vilca

Adouane

Mezouar

2015

J Intell Robot Syst

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This paper deals with autonomous navigation of unmanned ground vehicles (UGV). The UGV has to reach its assigned final configuration in a structured environments (e.g. a warehouse or an urban environment), and to avoid colliding neither with the route boundaries nor any obstructing obstacles. In this paper, vehicle planning/set-points definition is addressed. A new efficient and flexible methodology for vehicle navigation throughout optimal and discrete selected waypoints is proposed. Combining multi-criteria optimization and expanding tree allows safe, smooth and fast vehicle overall navigation. This navigation through waypoints permits to avoid any path/trajectory planning which could be time consuming and complex, mainly in cluttered and dynamic environment. To evaluate the flexibility and the efficiency of the proposed methodology based on expanding tree (taking into account the vehicle model and uncertainties), an important part of this paper is dedicated to give an accurate comparison with another proposed optimization based on the commonly used grid map. A set of simulations, comparison with other methods and experiments, using an urban electric vehicle, are presented and demonstrate the reliability of our proposals.

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An overall control strategy based on target reaching for the navigation of an urban electric vehicle

Cited by 9 publications

References 21 publications

Adaptive Leader-Follower Formation in Cluttered Environment Using Dynamic Target Reconfiguration

Adaptive Leader-Follower Formation in Cluttered Environment Using Dynamic Target Reconfiguration

Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging

Optimal Multi-Criteria Waypoint Selection for Autonomous Vehicle Navigation in Structured Environment

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