# Contributions à la planification et à la commande pour les robots mobiles coopératifs

Abstract : This thesis concerns the autonomous navigation of a formation of nonholonomic mobile robots. Our objective is to equip a multi-robot system at the same time of a flexible motion planner and of an efficient and robust trajectory tracking controller.
The first chapter deals with the presentation of the context.
The second chapter is devolved to the design of a feasible collision-free trajectory planner for a mobile robot enough flexible in order to be extended to the multi-robot framework.
In the third chapter, two coordination mechanisms are developed. For the first one, the conflicts are solved via a supervisor. The second one allows the on-line optimal trajectory generation for every robot in a decentralized way from available information.
The fourth chapter concerns the higher order sliding mode control. The efficiency of the algorithm is highlighted through experimental results on a stepper motor.
In the fifth chapter, two integral sliding mode controllers are designed and implemented on the Pekee mobile robot. These control laws ensure the stabilization and/or the trajectory tracking in spite of the presence of disturbances and uncertainties.
The last chapter describes a decentralized coordination mechanism based on a leader/follower'' approach. It allows to eliminate the knowledge of the absolute position of all the robots and to avoid the inter-robot collisions. Finally, we present experimental results on a formation of three Miabot robots.
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Theses
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Cited literature [24 references]

https://tel.archives-ouvertes.fr/tel-00196529
Contributor : Michael Defoort <>
Submitted on : Thursday, December 13, 2007 - 3:42:26 AM
Last modification on : Tuesday, November 24, 2020 - 2:18:22 PM
Long-term archiving on: : Monday, April 12, 2010 - 7:17:42 AM

### Identifiers

• HAL Id : tel-00196529, version 1

### Citation

Michael Defoort. Contributions à la planification et à la commande pour les robots mobiles coopératifs. Automatique / Robotique. Ecole Centrale de Lille, 2007. Français. ⟨tel-00196529⟩

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