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Architecture de contrôle distribuée pour robot mobile autonome : principes, conception et applications

Abstract : An autonomous mobile robot should execute non repetitive tasks in ill known and non cooperative environments. In such contexts, the missions given to the robot cannot be defined precisely and the robot must be endowed with capacities for mission interpretation and scene understanding, to be able to decide appropriate actions and to react to external events. The proposed control architecture, i.e., the organisation of the robot system, consists in two hierarchic levels : the decisional and functional levels. The presented work is mainly related to the second level which provides for the operational capacities of the system (perception, modelling, motion and actions). The first part of the manuscript presents the global architecture and provides a critical analysis of the state of the art focussed on reactive systems. The second part clarifies the requirements for the functional level to provide the robot with autonomy, reactivity and programmability. These features, associated with the diversity and the temporal constraints of the operational functions, lead to a modular structure. From a behavioral, functional and structural formalization of the modules, a generic module has been defined. The functions integrated in modules appear as consistent, reactive and homogeneous services to the decisional level which carried out robot tasks by dynamically connecting these functions within a tree of activities. The modules are described and produced by a specification language associated with an automatic generator of modules named GenoM. The last part presents three complete integrations. The first one concerns the indoor experimental robot Hilare equipped with numerous sensors and functionalities. Original localization and non-holonomic motion control procedures are detailed. The second one describes the system for outdoor navigation with the all-terrain mobile robot ADAM. The last one deals with multi-robot coordination and has lead to a realistic simulation running fiftee n robots (under UNIX) and to a real experimentation with three Hilare robots (under VxWorks).
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https://tel.archives-ouvertes.fr/tel-00165569
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Submitted on : Thursday, July 26, 2007 - 4:23:07 PM
Last modification on : Friday, January 10, 2020 - 9:08:09 PM
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  • HAL Id : tel-00165569, version 1

Citation

Sara Fleury. Architecture de contrôle distribuée pour robot mobile autonome : principes, conception et applications. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 1996. Français. ⟨tel-00165569⟩

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