Mémoires de Fin d’Etudes
Etablissement
Université de Laghouat - Amar Telidji
Affiliation
Département Electrique
Auteur
Brahimi, Tahar
Directeur de thèse
BENALIA Atallah (Maitre de conférence)
Co-directeur
M’SIRDI Kouider nacer (Professeur)
Filière
Automatique
Diplôme
Doctorat LMD
Titre
Location et Commande d’un ensemble de robots mobiles dans un environnement contraint
Mots clés
cooperative mobile robotics, Behavioral architecture of control, Multi-robots simulation
Résumé
Recently, the research has developed from simple cooperation of two robots to swarm robotics, from system design to control algorithm, and from simulation design to real applications. As an important research area, Multi-robot Systems has drawn the attention from various research areas, such as physics, electronics, control, computer science, mathematics, and biology. In this thesis, we are going to solve three problem, which are: The localization problem of mobile robots, which is a critical factor since most tasks require an accurate knowledge of position and orientation; localization is even more crucial in multi-robot systems, in fact for a tight cooperation each robot needs to know the position of the other members of the team. The formation-planning problem, which is one of the important areas of interest in multi-robot system. As we know, autonomous robot, which work without human operators, are required in multi-robot formation fields. In order to achieve tasks, robots have to be intelligent and should decide their own action. When the robot decides its action, it is necessary to plan optimally depending on their tasks. Moreover, it is necessary to plan a collision free path that minimizes a cost function such as of time, energy and distance. When an autonomous robot moves from an initial point to a target point in its given environment, it is necessary to plan an optimal or feasible path avoiding obstacles in its way and providing answer to the criterion of autonomy requirements such as : thermal, energy, time, and safety. Therefore, we are going to search a collision free and obstacle avoidance path in an environment with obstacles. And finally, the formation control, which is particularly active areas of multi-agent systems since many cooperative tasks are performed by controlling the agents to move cohesively in a specified geometrical pattern. That is to say, the formation satisfies some constraints such as the desired distance between two agents, the desired angle between two lines joining both the agents. The formation control of the whole system is implemented via controlling each agent respectively.
Statut
Validé