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Contrôle d'exécution réactif de mouvements de véhicules en environnement dynamique structuré

Philippe Garnier 1, 2
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : The work presented in this thesis is about automated movements of vehicles within a semi-structured dynamic environment. The problem in focus is the reactive control of vehicles in environments such as "automated parking area" or "dedicated driving lanes". The basic topology of these environments are assumed to be known a-priori. However, unforeseen static and dynamic obstacles might be encountered during the movement of the vehicle. In order to tackle the problem it is necessary to make a nominal motion plan with only a partial knowledge of the world. This nominal plan is modified whenever necessary by means of a reactive mechanism. The current work particularly focusses on this latter aspect. In this work a kino-dynamic planner is coupled to a reactive controller which is able to adapt in real-time to the unexpected changes in the environment. The controller consists of a set of basic behaviors such as trajectory tracking and obstacle avoidance all of which may be activated simultaneously. These behaviors are then combined to obtain a global behavior corresponding to the planned movements. The controller employed is a Mamdani type fuzzy controller based on the fuzzy logic. The main interest in the use of a fuzzy controller is that the desired behaviors can be encoded in the form of weighted rules which in turn can be expressed in a language similar to the natural human language. The simulation results of the controller are easily extended to experiments performed on a real vehicle within the INRIA/INRETS Praxitele project.
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Philippe Garnier. Contrôle d'exécution réactif de mouvements de véhicules en environnement dynamique structuré. Interface homme-machine [cs.HC]. Institut National Polytechnique de Grenoble - INPG, 1995. Français. ⟨tel-00005045⟩

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